His research interests in robotics include modeling and grasping of deformable objects, compliant multi-body impacts, and shape from tactile data. He was an associate editor of the IEEE Transactions on Automation Science and Engineering in 2008-2011 and a co-editor of a Special Issue (on Tactile Presence) of the International Journal of Robotics Research in 2000. He also served on the Conference Editorial Board of the IEEE Robotics and Automation Society in 2006-2008 and 2014.