Liposomes have been considered as the boundary lubricant in natural joints. They are also the main component of bionic lubricant. In this study, the tribological properties of liposomes on Ti6Al4V/polymer surface were studied by atomic force microscope (AFM) at the nanoscale. The superlubricity with a friction coefficient of 0.007 was achieved under the maximal pressure of 15 MPa, consisting with the lubrication condition of natural joints. Especially, when the AFM probe was hydrophilically modified and preadsorbed, the friction coefficient and load bearing capacity could be further improved. In addition, the probe with a large radius could maintain the stable lubrication of liposomes in the contact zone. Finally, an optimal lubrication model of liposomes was established and the critical force for superlubricity was also proposed. It was the boundary between elastic deformation and plastic deformation for vesicles. It was also the indicator of the plough effect appearing on the adsorbed layer. This work reveals the interfacial behavior of liposomes and realizes the controllable superlubricity system, providing more guidance for clinical application.