Abstract: A device to detect medical status of a person, including a robot manipulator to receive and handle effectors, each effector enabling a selected activity; a first unit to determine a current state ZRM(t) of the robot manipulator and a current state of an effector; a second unit to determine a current position LKT,AKTk(t) of a person's body part related to the selected activity in a working region of the robot manipulator; a third unit to determine a wrench KW(t) acting on the robot manipulator; a fourth unit to specify target data and permissible deviations for the selected activity; and a control unit to control the robot manipulator upon specification of the selected activity as a function of: ZRM(t), LKT,AKTk(t), KW(t), target data, and permissible deviations, such that when a permissible deviation is exceeded, the robot manipulator and the effector are placed into a safe state based on the selected activity.