Abstract: A robotic surgical system includes a robot system, a user interface, a hand detection system, and a processing unit. The robot system includes a tool coupled to an arm. The user interface includes a handle assembly including a body portion having a proximal end portion, and a first actuator movable between open and closed positions. The hand detection system includes a first sensor disposed within the first actuator for detecting finger presence on the first actuator, a second sensor disposed on the proximal end portion for detecting palm presence about the proximal end portion, and an encoder disposed within the body portion for detecting position of the first actuator relative to the body portion. The processing unit is electrically coupled to the first, second, and third sensors for receiving and processing data from the first, second, and third sensors.