A robotic surgical system includes a robotic arm and a user interface. Therobotic arm supports a jaw assembly thatincludes opposed jaw members defining a jaw angle therebetween. The userinterface includes a handle assembly having a body portion,a handle controller disposed within the body portion, and a first actuatormovable relative to the body portion to change an openingangle of the first actuator. The first actuator has a force profile which is aforce required to move the first actuator as a function of theopening angle, and the jaw assembly has a jaw angle profile which is the jawangle as a function of the opening angle.
