My research focuses on the relationships between biological systems and machines. In this area of symbiotic computing, I study the interaction of humans with machines, machines as models of biological systems, and biological systems as inspiration for new robot control and learning techniques. Specific areas of interest include: • Motor skill learning in robots and models of primate skill learning. I specifically work in the areas of reaching, grasping, and manipulation. • Interplay of multiple learning systems, including supervised- and reinforcement-style learning algorithms. I am interested in robot learning through human interaction. • Learning task-oriented representations. • Brain-machine interfaces for advanced prosthetic devices. • Assistive robotics. • Interactive art.