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Exoskeleton robots are functioning in contexts with more complicated motion control needs as a result of the technology and applications for these robots rapidly developing. This calls for novel control techniques to accommodate their employment in a range of real-world settings. This paper proposes a bionic control method for a human–exoskeleton coupling dynamic model based on the CPG model, utilizing a model on the dynamics of the human–exoskeleton interaction. The CPG network is established as an oscillator by two neurons inhibiting one another, which approximates the torques simulated in the inverse dynamic analysis as the input to the exoskeleton robot. The findings of the simulation assessment suggest that the bionic control strategy may improve the robot’s ability to move quickly and steadily, as well as better adapt to challenging environments.