In this article, a proxy-based force control method is proposed for three important human-robot interaction modes: zero-impedance mode, force assistive mode, and large force mode. A two-mass dynamic-model-based nonlinear disturbance observer is used to meet the zero-impedance output and accurate force tracking requirements with respect to disturbances from the wearer and environment. Additionally, significant force compliance can be achieved to guarantee the wearer's safety when the interaction torque is large. The proposed method is evaluated via experiments by comparison to the conventional proportional-integral-derivative and proxy-based sliding mode control methods. The results indicate that the proposed approach achieves better force tracking accuracy, robustness, and force compliance in three-mode human-robot interactions.