This paper proposes a Nonlinear Adaptive Robust Control method that cooperates with Stiffness Regulating (NARCSR). The proposed approach utilizes an Independent Metering Valve (IMV) control structure and a real-time stiffness regulation strategy to minimize energy dissipation, maintain flow characteristics in the linear region, and prevent high gain and chattering. Additionally, the Nonlinear Adaptive Robust Control (NARC) technique is developed to handle parametric uncertainties and uncertain nonlinearities, enhancing the system’s robustness and adaptability. The novel NARC algorithm is demonstrated, coordinated with stiffness regulation based on the IMV structure. Simulation and experimental results confirm that the proposed algorithm ensures the system operates within the linear region of flow characteristics, resulting in lower energy consumption and improved dynamic performance of the system.