"I don’t think they had internal divisions or titles or anything. My advisor was a neuroscientist, called Emilio Bizzi. He was interested in how the brain worked, obviously, but in particular how the brain controlled movement and how you coordinated movement. At that time robotics was starting to happen at MIT, I guess in a more visible way, and he reached out to two people, a guy named Neville Hogan in the Mechanical Engineering Department and a guy named John Hollerbach who was at the MIT AI lab and they collaborated trying to ask the question, “What can robotics tell us about how the brain works?” Because clearly the body is a robot, so the brain has to be a robot controller and maybe some of the theory that’s being developed for robot controllers could be useful, and that was the context in which I oper – I was in graduate school. First year I studied human movement, second year I – yeah, it’s all coming back to me now – I studied more human movement or human movement in a slightly different way, I’m happy to go into more detail on that kind of stuff later, and we also did some monkey studies and then at that point I decided, “Oh, let’s go try to understand robots, they’re a lot simpler,” and that’s what I did. So, my thesis was on the question of, “If you pick something up, how do you know how much it weighs?” The example I loved to use was, “When you reach into a refrigerator and pick up the milk, how do you know it’s frozen?” Now, that’s not a question I actually answered in my thesis, but that was a motivating question."