With the rapid development of elderly-assistant & walking-assistant robot. How to improve the intelligent level of elderly-assistant & walking-assistant robot has become a research focus in recent years. In order to improve the control accuracy of movement-mode of elderly-assistant & walking-assistant robot and meet the user's requirements for robot control. In this paper, a fuzzy control method of robot movement is proposed, which is base on tactile-slip sensor detection system of elderly-assistant & walking-assistant robot. Firstly, the tactile-slip sensor detection system collect the tactile-slip signal and process the signals. Then, the walking-mode of elderly-assistant & walking-assistant robot is controlled by using the fuzzy algorithm method. The fuzzy control method was simulated through MATLAB to verify its feasibility, and the result shows it can effectively control the movement-mode of elderly-assistant & walking-assistant robot.