Active handling apparatus and method for contact tasks

A handling apparatus for automated contact tasks, the handling apparatus comprising:

• a mechanical interface for connecting the handling apparatus to a manipulator;
• a holder movably mounted relative to said interface and configured for receiving a tool;
• at least one gearless adjusting element for positioning said holder in relation to said interface to the manipulator;
• a sensor device for determining a force acting on said at least one adjusting element;
• and
• a closed-loop controller configured for:
• pressing said holder with an adjustable minimum force against a stop as long as there is no contact between the handling apparatus and a surface;
• controlling the contact force according to a predeterminable force progression when there is contact between the handling apparatus and a surface, wherein, once contact has been recognized, the contact force is increased from the minimum force to a predeterminable required force.