Abstract: In a holding device with a receiving part held on a holder by means of a linear and/or rotary guide means, in particular, for tools for industrial robots, wherein the motion of the receiving part relative to the holder can be damped by means of a restoring damping element which can be subjected to tensile and shear stresses, in order to provide by virtue of a simple arrangement both damping of the motion of the receiving part relative to the holder and a restoring force which ensures reliable maintenance of the middle position, it is proposed that the damping element be arranged so as to be structurally separate from the guide means for the linear and/or rotary motion and that deflection forces acting upon the damping element during motion of the receiving part relative to the holder be exerted essentially perpendicular to its direction of tension.