In human-robot interaction, accurate estimation of human intention can improve the interaction and enhance the stability of the interaction process. However, in the past research process, the research on human intention was relatively inaccurate or performed in a single point-to-point (PTP) task, which cannot meet most application scenarios. This paper proposes a fuzzy variable admittance system based on human-robot interaction. In this method, not only the direct intention is represented by the product of the Cartesian velocity and the interaction force, but the angular constraint with the axis represents the indirect intent, and fuzzy rules integrate the two purposes. Finally, to verify the performance of this method, PTP and trajectory tracking experiments are performed using a FRANKA PANDA robot.