My research is in the area of haptic interface, where I apply techniques from multibody dynamics, nonlinear controls, and robotics.  Humans acquire a great deal of information from their environment through the sense of touch.  I believe that the elements of interaction that support the kind of relationship one enjoys with a musical instrument or tennis racquet, say, also belong in one’s relationship with a computer. There is much to learn about the mechanical contact between human and computer and much to exploit for information transfer. A computer fully outfitted for mechanical interaction can even go beyond providing for human expression and entertainment, it can function as a teaching aide or provide performance enhancement.