My research involves teaching robots how to interact with humans. I am interested in robotic devices that work very closely with the human body, such as robotic exoskeletons, powered prostheses, surgical robots, and other control systems for human health and mobility. Unlike classical control problems, when a human walks in an exoskeleton or a prosthesis the disturbances they impose on the robot have meaning and purpose; for instance, that the user wishes to walk more slowly or more quickly than they are currently. One area of my research seeks to translate those disturbances so that assistive devices can dynamically adapt to better suit the user's intentions. Other research areas focus on leveraging advanced model predictive control strategies with gray-box models of human systems to achieve superior shared-control algorithms.