Electric motor based holding control systems and methods

A holding system includes a force control module configured to generate a force signal to cause a holding device to perform at least one of a hold stroke and a release stroke. The hold stroke includes transitioning a gripping element 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 is configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly of the holding device and (ii) detect a first stall condition of an electric motor based on the sensor signal. A shut off module 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.