In order to suppress the vibration amplitude of the variable stiffness electro-hydraulic series elastic manipulator,an inverse adaptive fuzzy sliding mode controller was designed,and the output effect of the manipulator was simulated.A new type of variable stiffness electro-hydraulic series elastic manipulator was created,and the nonlinear control equation of fluid flow distribution in the valve was given.In order to improve the traditional sliding mode controller,an inversion adaptive fuzzy sliding mode controller was designed by combining the input shaping technology with the fuzzy logic system.Lyapunov function was used to prove the stability of the controller to ensure that the state variables of the system reached and remained on the sliding surface.The angular displacement,angular velocity and torque of the manipulator were simulated by MATLAB software,and the results were compared with the output of the sliding mode controller.The results show that:in the non-interference environment,using sliding mode controller and inversion adaptive fuzzy sliding mode controller,the error between the real trajectory and the desired trajectory is smaller,and the vibration amplitude is smaller;in the environment of waveform disturbance,the inverse adaptive fuzzy sliding mode controller is better than the sliding mode controller,the error between the real trajectory and the desired trajectory is smaller,the vibration amplitude is smaller,the adaptive adjustment time is shorter,and there is no overshoot.The inverse adaptive fuzzy sliding mode controller can be used to suppress the vibration amplitude of the variable stiffness electro-hydraulic series elastic manipulator and reduce its output error.