I have more than 20 years of experience in research in medical robotics, motion tracking, surgical devices, human-machine interaction, and assistive or rehabilitative robotics. I have taught as a professor of robotics, biomedical engineering, and mechanical engineering at a major university, and also as an adjunct professor of rehabilitation science and technology. I have developed systems for minimally invasive cardiac surgery, motion tracking using optical and inertial sensing, accuracy-enhanced microsurgery using active handheld robotic instruments, steering of needles for neurosurgical and urological procedures, and filtering of command input in assistive interfaces for computers and powered wheelchairs. I have published over 130 peer-reviewed papers in these areas. I have been a Senior Member of the IEEE, and the director of a surgical robotics laboratory. I hold one U.S. patent, with another provisional patent application submitted. I have prior experience providing consultations, reports, declarations, claim construction opinions, deposition, and courtroom testimony as a medical robotics expert witness.