The controlled smart hanger is an indispensable component in the automatic system for garment inspection. Fuzzy logic is chosen for the smart hanger manipulator since it can describe the human behavior remarkably well. In this paper, the dynamic model of the manipulator governing the contact force with garment fabric is first developed. An adaptive fuzzy logic PID control scheme is successfully formulated for the contact force control. Simulation results indicate that the fuzzy PID controller can yield a faster response without overshoot and a smaller error performance as compared to the traditional method based on PID. The stability of the fuzzy PID controller is also demonstrated by computer simulations.