1. A system comprising: an operator input device structured to move in response to operator-applied force and to selectably output feedback force to the operator; a first computing system structured to receive input from the operator control device indicating position or movement of the operator input device, process the received input, and provide a resulting output to a communication link; a second computing system structured to receive the output from the communication link, process the output to provide a robot control command subject to a force constraint, and output the command; and an industrial robot system in operative communication with the second computing system, the industrial robot system comprising a robotic arm structured to move in response to the command, a tool operatively coupled with the robotic arm, and a feedback device structured to provide feedback to the second computing system from which force encountered by the tool may be determined; wherein the second computing system is structured process the output to impose force constraint using a dual threshold hysteresis control structured to activate a force limit if the output exceeds a first threshold and to deactivate the force limit if the output is below a second threshold, the second threshold being below the first threshold, and the first computing system is structured to receive the feedback from second computing system via the communication system, process the feedback to compute a feedback force, and output a feedback force command effective to cause the input device to apply the feedback force to the operator.