Abstract: In force-controlled tasks such as polishing and assembly within robotic arm applications, conventional fuzzy adaptive impedance control methods often suffer from slow response speed, low force control accuracy, and poor stability. To address these issues, an adaptive impedance control method combined with variable universe fuzzy control was proposed. Based on traditional fuzzy adaptive impedance control, scaling factors for the input and output fuzzy universes were introduced. These scaling factors were dynamically controlled according to the system's force control errors, enabling adaptive partitioning of the fuzzy universe. This approach significantly improved response speed and control accuracy. Models for traditional impedance control, fuzzy adaptive impedance control, and variable universe fuzzy adaptive impedance control were established in the Simulink environment. Simulation comparisons demonstrate that the proposed method significantly reduces control overshoot and settling time, while also offering improved robustness against unknown disturbances, providing practical value.