A device for open-loop and closed-loop control of a robot manipulator driven by a number M of actuators AKT m having an end effector, with m = 1, 2,..., M comprising: - a first unit, which detects and/or provides an external torque acting on the end effector F ext ( t) = { f ext ( t), m ext (t)}, with: f ext ( t): = external force acting on the end effector; m ext (t): = external torque acting on the end effector; - a controller connected to the first unit and the actuators AKT m, which comprises a first controller R1, which is a force controller, and a second controller R2 connected thereto, which is an impedance controller, an admittance controller, a position controller or a speed controller, wherein the controller determines manipulated variables u m (t), with which the actuators AKT m can be controlled such that the end effector, upon contact with a surface of an object, acts on the latter with a predetermined torque F D ( t) = { f D ( t), m D ( t)}; wherein the following apply u m t = u m, R 1 t + u m, R 2 t, with: f D ( t): = predetermined force; m D ( t): = predetermined torque; u m,R1 (t): = manipulated variable portion of the first controller R1, and u m,R2 (t): = manipulated variable portion of the second controller R2 characterized in that the first controller R1 is designed and set up in such a manner that the manipulated variable u m,R1 (t) is determined as a product of a manipulated variable u m,R1 (t)* and a function S(v(t)), wherein the following apply: u m, R 1 t = S v t ⋅ u m, R 1 t * v t = v F → D t, R → t v t ∈ v a, v e with: u m,R1 *(t): = a manipulated variable determined by the first controller R1 for producing the predetermined torque F D ( t), R ( t): = a control difference provided by the controller, S(v(t)): =a monotonically decreasing function of v(t), which is dependent on F D ( t) and R ( t), [v a, v e]: =a predetermined definition range of the variable v(t). - a first unit, which detects and/or provides an external torque acting on the end effector F ext ( t) = { f ext ( t), m ext (t)}, with: f ext ( t): = external force acting on the end effector; m ext (t): = external torque acting on the end effector; f ext ( t): = external force acting on the end effector; m ext (t): = external torque acting on the end effector; - a controller connected to the first unit and the actuators AKT m, which comprises a first controller R1, which is a force controller, and a second controller R2 connected thereto, which is an impedance controller, an admittance controller, a position controller or a speed controller, wherein the controller determines manipulated variables u m (t), with which the actuators AKT m can be controlled such that the end effector, upon contact with a surface of an object, acts on the latter with a predetermined torque F D ( t) = { f D ( t), m D ( t)}; wherein the following apply u m t = u m, R 1 t + u m, R 2 t, with: f D ( t): = predetermined force; m D ( t): = predetermined torque; u m,R1 (t): = manipulated variable portion of the first controller R1, and u m,R2 (t): = manipulated variable portion of the second controller R2 characterized in that the first controller R1 is designed and set up in such a manner that the manipulated variable u m,R1 (t) is determined as a product of a manipulated variable u m,R1 (t)* and a function S(v(t)), wherein the following apply: u m, R 1 t = S v t ⋅ u m, R 1 t * v t = v F → D t, R → t v t ∈ v a, v e with: u m,R1 *(t): = a manipulated variable determined by the first controller R1 for producing the predetermined torque F D ( t), R ( t): = a control difference provided by the controller, S(v(t)): =a monotonically decreasing function of v(t), which is dependent on F D ( t) and R ( t), [v a, v e]: =a predetermined definition range of the variable v(t). f D ( t): = predetermined force; m D ( t): = predetermined torque; u m,R1 (t): = manipulated variable portion of the first controller R1, and u m,R2 (t): = manipulated variable portion of the second controller R2 characterized in that the first controller R1 is designed and set up in such a manner that the manipulated variable u m,R1 (t) is determined as a product of a manipulated variable u m,R1 (t)* and a function S(v(t)), wherein the following apply: u m, R 1 t = S v t ⋅ u m, R 1 t * v t = v F → D t, R → t v t ∈ v a, v e with: u m,R1 *(t): = a manipulated variable determined by the first controller R1 for producing the predetermined torque F D ( t), R ( t): = a control difference provided by the controller, S(v(t)): =a monotonically decreasing function of v(t), which is dependent on F D ( t) and R ( t), [v a, v e]: =a predetermined definition range of the variable v(t). u m,R1 *(t): = a manipulated variable determined by the first controller R1 for producing the predetermined torque F D ( t), R ( t): = a control difference provided by the controller, S(v(t)): =a monotonically decreasing function of v(t), which is dependent on F D ( t) and R ( t), [v a, v e]: =a predetermined definition range of the variable v(t).