From:
https://en.wikipedia.org/wiki/Rosetta_(spacecraft)
The lander, named
Philae, approached
Churyumov–Gerasimenko at a relative speed of around 1 m/s (3.6 km/h; 2.2 mph) and on contact with the surface, two harpoons were to be fired into the comet to prevent the lander from bouncing off because the comet's escape velocity is only around 0.5 m/s (1.8 km/h; 1.1 mph).
It sounds like if the impact had been an elastic collision Philae would rebounded back into space. But the collision was probably highly inelastic. It seems like the comet is some kind of spongy network of dust with frozen CO2 and H2O mostly in the voids. That by itself sounds like enough to make the comet absorb much of the energy from any impact. And the lander itself looks about farthest from a bouncing ball. So I'd expect that the lander would absorb a lot of energy in any kind of collision.
Still, given the slow nature of the impact (to this earth centric individual) I can imagine that collisions might be more elastic than expected when the accelerations are so small that the depression of the comet's surface might be small enough that the surface returned much of the impact energy to the lander. But as an empirical matter the comet and the lander absorbed enough energy that lander rebound velocity stayed below .5 m/sec.