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For the working scenarios of the interaction between the manipulator end mounted a series elastic actuator(SEA) and its environment or workpieces, a SEA contact force control strategy with gravity compensation is studied to solve the problem which the pressure of the SEA end load on the contact surface changes with the movement posture of the manipulator. Firstly, the force control experimental device based on Staubli TX90 and a SEA combined with the ball screw module is analyzed. A dynamic model of the interaction process between the SEA and its workpieces is established. Then, a PD-type SEA contact force control method with input gravity compensation is proposed without contact force sensors. The SEA end load is compensated by the gravity input according to the joint angles of the manipulator. The contact force is controlled by measuring the spring compression deformation, calculating and feeding back the spring force. Finally, the contact force control experiment between the SEA and a sinusoidal surface workpiece is carried out. And the contact force signal collected by the force sensor is analyzed in the frequency spectrum to verify the effectiveness of the proposed control method.