In the short story Liar!, part of I, Robot, a crucial plot point is that Herbie, the mind-reading robot, was bound by First Law not to harm humans, and being that he understood emotions, this included emotional harm. This manifested itself (in part) in telling the person exactly what they wanted to hear.
Later robots did not face this problem.
Assuming Stephen Byerley (from Evidence) was actually a robot, he certainly caused emotional harm to a lot of people, simply by running for office.
In The Caves of Steel, R. Daneel Olivaw once even causes Elijah Baley to pass out, after Lije's accusation that Daneel was actually human was proven false. Throughout the series, Daneel has no qualms about telling a person they're wrong.
R. Daneel and Byerley, being robots designed to pretend to be human, are certainly aware of human feelings. How then did they not face the same problem as Herbie?