Outside the courthouse, Cosby's spokesman, Andrew Wyatt, gave a news conference in which he thanked the comedian's supporters and praised the jury for its conscientiousness.
They will return Saturday morning for the sixth day of deliberations.
The judge brought Cosby into court to make sure he'd approved of the mistrial requests, asking the comedian if he knew that a mistrial would mean he could be prosecuted again.
Constand's lawyer, Dolores Troiani, said only that the "jury is apparently working very hard". The panel reported an impasse Thursday but was told by the judge to keep deliberating in hopes of reaching a verdict.
Constand testified that after she took the pills from Cosby her vision began to blur, she slurred her words and she "wasn't able to fight in any way" as Cosby groped her breasts and touched her genitals. He adds "tonight, just rest".
Constand's complaint is the only one that has come to trial.
The three charges accuse Cosby of assaulting Constand without her consent, assaulting her when she was unconscious and assaulting her using drugs to substantially impair her ability to consent.
Jurors have started testing the patience of the judge in Bill Cosby's sexual assault trial.
A nurse from Florida, Serignese claims Cosby raped her after knocking her out with the medication.
Both Andrea and Gianna sat in the front row of the gallery on Friday, in view of the jury, as the stenographer read-back the testimony. The judge directed them to keep talking and as Thursday evening fell, the panel of seven men and five women were still at it.
With deliberations running about as long as the testimony of all the witnesses combined, the 79-year-old TV star's lawyer complained that jurors were seeking a replay of the entire trial.
Jurors continued their work a day after telling the judge they were unable to reach agreement on a unanimous verdict. She says he drugged and molested her as she lay helpless on his couch.
Jurors listened again to Cosby's deposition testimony about giving quaaludes to women before sex in the 1970s.
Cosby, who gave the deposition as part of Constand's lawsuit against him, said he got seven prescriptions for the powerful sedative in the 1970s for the goal of giving them to women with whom he wanted to have sex.
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Dozens of women have come forward to say Cosby had drugged and assaulted them, but this was the only case to result in criminal charges.
They also came back and asked for Constand's phone records from the time in question and testimony from Constand's mother, who took the stand last week.
"The judge can say, 'Do you think more deliberations would be helpful?' But the judge can't say, 'How are you split?'" explained Bradford Colbert, a professor at Mitchell Hamline School of Law in St. Paul, in an interview with Minnesota Public Radio.
The portion of Constand's seven hours of trial testimony during which she talked about the night she says Cosby drugged and sexually violated her.
Each of the three counts of aggravated indecent assault against Cosby carries a maximum 10-year prison term, though the counts could be merged at sentencing if he is convicted.
Cosby tweeted the message on Friday shortly after jurors asked to review his lurid testimony about giving quaaludes to women he wanted to have sex with.
District Attorney Kevin Steele, who ran for office promising to pursue Cosby on the long-abandoned case, would then have several months to decide whether to retry Cosby.
Prosecutors have argued that his acknowledged use of Quaaludes on women shows that his alleged drugging of Andrea Constand in 2004 was not a mistake.
He also said the pills he gave her were over-the-counter Benadryl, which he admitted can cause sleepiness.
Cosby testified in a 2006 deposition that he got seven prescriptions for the powerful sedative in the 1970s for the goal of giving them to women before sex. Prosecutors have suggested he might have given her quaaludes.
The jury is deliberating for a fifth day on Friday.
Jurors made the request a few minutes after resuming deliberations Friday.
Wyatt said he believed a chat with the couple and their 14-year-old son and 9-year-old daughter would brighten Cosby's spirits.
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