Abstract: To improve human-robot interaction force in human-robot coordinated motion based on force information, the method of setting elastic elements in the human-machine interface is adopted, and a human-robot interaction mechanics model with a flexible human-robot interface is developed. An adaptive impedance control method based on a flexible human-robot interface is proposed based on the existing robust adaptive impedance control method. This control method performs proportional compensation on the position and speed of the outer impedance loop and uses fuzzy PID control for the inner loop of the force control to achieve an improved adaptive impedance algorithm, thereby improving the position tracking accuracy and effectively reducing the human-robot interaction force. The influence of the elastic elements on the human-robot interface and its control effect are analyzed. When different stiffness coefficients are obtained, the interactive force control effect and location tracking accuracy are obtained. On this basis, a test system is established and completed. The human-robot coordinated motion test results show that the application of flexible human-robot interface and improved control method has a better human-robot interaction control effect. Standard motion input test results show that the improved control method has a better human-robot interaction force control effect and higher position tracking accuracy. The magnitude of the human-robot interaction force and position tracking accuracy are proportional to the stiffness coefficient of the human-robot interface.