My research focuses on developing the principles and tools needed to realize advanced robotic and human-machine systems capable of haptic (touch) interaction, particularly for biomedical applications. Haptic systems are designed and studied using both analytical and experimental approaches. Topics of particular interest are: (1) Teleoperation: Devices, models, and control systems that allow human operators to manipulate environments that are remote in scale and/or distance. (2) Virtual Environments: Models, control systems, and devices that enable compelling touch-based interaction with computers. (3) Robotic manipulation: Robots that physically manipulate their environment or their own shape, incorporating novel designs, sensors, and control systems. Application areas include surgery, simulation and training, rehabilitation, prosthetics, neuromechanics, exploration of hazardous and remote environments, design, and education.