The invention discloses a flexible variable stiffness mechanism based on the principle of electrostatic adsorption and blocking and a manufacturing method. The flexible variable stiffness mechanism comprises a first electrostatic adsorption device, a middle sandwich layer and a second electrostatic adsorption device, wherein the structures of the first electrostatic adsorption device and the second electrostatic adsorption device are the same; the middle sandwich layer is arranged between the first electrostatic adsorption device and the second electrostatic adsorption device, thereby constructing a blocking structure integrally. The change of different stiffness can be realized by applying different voltages to the electrostatic adsorption devices; high controllability is realized throughadjustment of the stiffness by means of the voltage; at the same time, the effect of variable stiffness is obvious, and no noise is produced.