Abstract: Based on the human's feedback control of motion, comfort level, an ergonomics index was adopted as the performance function of the human motion control. An algorithm in maximizing the comfort level of human body was proposed for simulating the human movement. The algorithm, which blends inverse kinematics, inverse dynamics and human ergonomics information, avoids the collision between the human position and strength produced only by using the dynamics or kinematics. It enhances the accuracy and reasonability of simulation. Human lifting activity was simulated utilizing the algorithm and the theoretical results were tested by the experimental data. The simulation result could provide some guidelines for the design of human activity to prevent from work-related injuries and improve productivity.