· Professor Emeritus, Stanford University2017–
· Professor (Research), Stanford University2000–2017
· Acting Professor (Research), Stanford University1999–2000
· Fellow and Scientific Advisor, Intuitive Surgical, Inc.1997–2003
· Senior Research Scientist, MIT1991–2000
· President and Founder, Salisbury Robotics, Inc.1982–1997
· Ph.D., Mechanical Engineering, Stanford University1982–
· M.S., Mechanical Engineering, Stanford University1977–
· Software Engineer, SRI International1976–1977
· Research Assistant, NASA/Ames Research Center1975–1976
· B.S., Electrical Engineering, Stanford University1975–