A robotic system comprising: a multi-axis robot arm , the robot arm comprising a plurality of arm portions (111-116) rotatably connected together, the robot arm configured to be rotated about a plurality of rotary axes (121-126); three or more sensors located on the robot arm, wherein the three or more sensors are configured to measure three or more parameters of the robot arm a damping system coupled to the robot arm and configured to apply a resistive force to the robot arm, thereby to resist movement of the robot arm, wherein the damping system is an active damping system and is configured to apply variable damping and resistance to the robot arm; and a controller coupled to the three or more sensors and the damping system, the controller being configured to: receive sensor measurements from the three or more sensors; and control, based on the received sensor measurements, the damping system thereby to control the resistive force applied by the damping system to the robot arm; wherein the three or more sensors comprise: a vibration sensor located on the robot arm at or proximate to a rotary axis of the robot arm, the vibration sensor configured to measure a vibration of the robot arm; a strain gauge located on an arm portion remote from the rotary axes, the strain gauge configured to measure a strain in that arm portion; and a temperature sensor located on the robot arm at or proximate to a motor (131-136) of the robot arm, the motor being configured to move the robot arm, the temperature sensor configured to measure a temperature at or proximate to the motor. a multi-axis robot arm , the robot arm comprising a plurality of arm portions (111-116) rotatably connected together, the robot arm configured to be rotated about a plurality of rotary axes (121-126); three or more sensors located on the robot arm, wherein the three or more sensors are configured to measure three or more parameters of the robot arm a damping system coupled to the robot arm and configured to apply a resistive force to the robot arm, thereby to resist movement of the robot arm, wherein the damping system is an active damping system and is configured to apply variable damping and resistance to the robot arm; and a controller coupled to the three or more sensors and the damping system, the controller being configured to: receive sensor measurements from the three or more sensors; and control, based on the received sensor measurements, the damping system thereby to control the resistive force applied by the damping system to the robot arm; wherein receive sensor measurements from the three or more sensors; and control, based on the received sensor measurements, the damping system thereby to control the resistive force applied by the damping system to the robot arm; wherein the three or more sensors comprise: a vibration sensor located on the robot arm at or proximate to a rotary axis of the robot arm, the vibration sensor configured to measure a vibration of the robot arm; a strain gauge located on an arm portion remote from the rotary axes, the strain gauge configured to measure a strain in that arm portion; and a temperature sensor located on the robot arm at or proximate to a motor (131-136) of the robot arm, the motor being configured to move the robot arm, the temperature sensor configured to measure a temperature at or proximate to the motor. a vibration sensor located on the robot arm at or proximate to a rotary axis of the robot arm, the vibration sensor configured to measure a vibration of the robot arm; a strain gauge located on an arm portion remote from the rotary axes, the strain gauge configured to measure a strain in that arm portion; and a temperature sensor located on the robot arm at or proximate to a motor (131-136) of the robot arm, the motor being configured to move the robot arm, the temperature sensor configured to measure a temperature at or proximate to the motor. <EOS>