My group is interested in computational methods in dynamics and control and using those methods to investigate biological locomotion and tactile exploration. Our work includes biomechanical models of the human hand (we now have software that can compute hand dynamics at near real-time speeds as well as compute optimal regulators), modeling tactile exploratory motions using ergodic trajectories (we use this as a way of understanding why people break contact with objects as they explore their surfaces), and understanding the role that impact mechanics play in locomotion (we can show that how deterministic a gait is depends on the configuration of the body at impact). These computational tools will eventually be integrated into embedded control of active prostheses.