Electric motor based holding control systems and method

A holding system (10) includes a force control module (14) configured to generate a force signal to cause a holding device (16) to perform at least one of a hold stroke and a release stroke. The hold stroke includes transitioning a gripping element (38) of the holding device to a first position to grip an object. The release stroke includes transitioning the gripping element to a second position to release the object. The holding device is non-backdrivable. A stall detection module (26) is configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly (15) of the holding device and (ii) detect a first stall condition of an electric motor based on the sensor signal. A shut off module (21) is configured to shut off current to the electric motor based on the detection of the first stall condition during or at an end of the release stroke.