Aditya Bhomwick has successfully defended his Masters thesis on June 20 2014. His Master's thesis is titled "User-Specified Virtual Fixtures for Augmenting Human-Robot Interaction User-Specified Virtual Fixtures". His thesis presents a culmination of work on high-level control allowing users to specify virtual fixture geometry in both cooperative manipulation and in telemanipulated robots.  Congratulations to Aditya for a job well done. Vidoes of demonstrations of some of his work can bee seen at this link.