Gelhardt moves to the Tigers on a season-long loan. The 23 year-old spent the second-half of last season on-loan at the MKM stadium.
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"I made it clear I wanted to come back here," Gelhardt told the club website.
"The people here, the city, the fans – everything about last season was just the perfect match.
"I was probably the happiest I've been in my football career during the last few months I spent here last year.
"It's a season-long loan this time, so being in from the start and having a whole year with the lads is going to be better.
"We know we can do a lot better than last season. With the new signings, we've got a lot of quality in the team."