Aiming at the time-varying contact stiffness in haptic force/position control,an adaptive force/position control algorithm with closed loop of velocity is presented.Based on the definition of the specific scalar function of the system,the proper adaptive update law can be fixed.With the control law and update law,it can be proved that the error of tracking force is finite limit and its derivative function is square integrable. Then with Barbalat lemma the whole control algorithm is proved to be globally asymptotically stable.The architecture of hardware of the whole control system is given.The result of experiments of sinus force tracking shows that the tracking error of this algorithm is less than that of the normal impendence control algorithm at the same signal frequency.The whole control system is stable and has an excellent control quality.Effects of key parameters of the control law are also presented by analyzing the experimental results.