Rehabilitation robot and assistive robot are expected to improve the life quality of patients, which has received extensive attention in basic researches and clinical fields. One of the significant purposes is to help disabled patients perform their daily activities. The humanmachine shared control robot system fully takes the advantage of human in upperlevel plan and machine in the fine control, which has achieved excellent control ability. First, this study briefly presents the composition and analyzes the advantage of humanmachine shared control robot system. Then, based on the review of the domain and abroad works, different types of humanmachine shared control robot systems are introduced in detail. Finally, this study looks forward to the future development direction of this technology through two aspects of new humanmachine interaction and shared control.