Automated surface processing is a great challenge for many companies, since traditional robot programming reaches its limits here. The quality-determining criteria not only include a precisely described trajectory but also especially the contact parameters between tool and component part: speed, alignment and force. The latter can vary during the process, based on component part tolerances or the actual procedure. The intuitive adjustment of force is an essential task of the worker during manual processing – and it represents a decisive innovation when this is implemented using force-torque sensors.