Changes in the membrane potential of neurons in the cerebral cortex produce measurable electrical brain activity. Electroencephalograms (EEGs) measure and record these electrical activity signals through the montage of the brain electrical activity signal channels formed by non-invasive sensing electrode arrays attached to the cortex. As a non-invasive detection method, EEG is widely used in the research fields of neuroscience and cognitive psychology. With the rapid development of electronic and computer technology, the development of Brain Computer Interface (BCI) technology has been promoted. This paper proposed a self-adaptive coupled motion control strategy based on the current working pose and micro-torque feedback. Compared with the conventional control way, no matter the coherence or the stability, this self-adaptive coupled motion control strategy manifests the better performance than conventional non-feedback mechanism.