Robertson has been on the 15-day disabled list, retroactive to May 14, with a left oblique strain that he said is no longer an issue.
Yankees manager Joe Girardi said he does not believe that Robertson would need to pitch in back-to-back Minor League games before being activated.
Additionally, Girardi said he expects outfielder Brett Gardner -- on the DL with a right elbow injury -- to play in a Minor League game for Class A Advanced Tampa on Thursday.
Gardner felt some stiffness on Wednesday after taking five at-bats in an extended spring game, but Girardi said he was "not surprised" by that. The Yankees have not ruled out that Gardner could be activated for Sunday's game against the Mets.