Abstract: In order to synchronize human-robot handshaking motion,a method of synchrocontrol based on neural oscillator is proposed and applied to the research on human-robot handshaking.Based on the analysis of the characteristics of existing neural oscillators,a new neural oscillator is designed for human-robot handshaking.The neural oscillator is applied to the synchrocontrol method to proceed the dynamics simulation for human-robot handshaking,and the result proves the validity of the presented control method.