Surgical systems and method for manipulation of a bone involve a surgical manipulator having a robotic arm configured to support and move a surgical instrument that includes an energy applicator, and a sensor configured to sense forces/torques applied to one or both of the surgical instrument and the energy applicator. Controller(s) are coupled to the manipulator and the sensor. In a semi-autonomous mode, the controller(s) operate the manipulator to move the energy applicator along a predefined tool path according to a feed rate, utilize the sensor to sense forces/torques applied to the energy applicator by the bone, and adjust the feed rate based on the sensed forces and torques. In a manual mode, the controller(s) utilize the sensor to sense forces and torques applied to the surgical instrument by a user and move the energy applicator based on the sensed forces and torques to manipulate the bone.