The invention relates to a robot controller controlling a robot arm, the robot controller is configured to maintain the robot arm in a static posture when only gravity is acting on the robot arm and allow change in posture of the robot arm when an external force different from gravity is applied to the robot arm. The free-drive mode of operation is activatable by a user establishing a free-drive activation signal to the robot controller, which then is configured to:monitor a value of at least one joint sensor parameter;compare the value of the mode of joint sensor parameter to a maintain free-drive joint sensor parameter threshold value;maintain the robot arm in said free-drive mode of operation for a predetermined maintain free-drive period of time; andleave the free-drive mode of operation if the value of the joint sensor parameter does not exceed the maintain free-drive joint sensor parameter threshold value within the maintain free-drive period of time.

Systems and methods for facilitating handoffs between a robot and a counterpart in accordance with embodiments of the invention are illustrated. One embodiment includes a method for controlling a robot to handoff an object. The method includes steps for presenting an object to a receiver, moving an object to interrogate a grip stiffness of the receiver, and measuring a response to the moving using a set of one or more sensors. The method further includes steps for computing the grip stiffness of the receiver based on the measured response and determining whether to release the object based on the computed grip stiffness.