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D.M. Lokhorst is a robotics researcher whose work has made meaningful contributions to the control of robotic manipulators, with a particular focus on the challenging problem of transitioning between contact and noncontact motion states. Operating at the intersection of control theory and applied robotics, Lokhorst's research addresses one of the field's fundamental difficulties: maintaining stable, reliable control when a robotic arm moves from free motion into physical contact with an environment — and back again. Lokhorst's most influential work, "Control of Robotic Manipulators During General Task Execution: A Discontinuous Control Approach" (1993), has accumulated 88 citations and established a rigorous control methodology for managing these complex task transitions. A companion paper published the same year on stability and control during contact/noncontact transitions garnered an additional 47 citations, together forming a foundational theoretical framework in the field. Subsequent experimental work published in 2002 demonstrated the real-world viability of these discontinuous control laws, including their application to collisions with stiff environments, bridging the gap between theory and practical implementation. With a combined citation record reflecting sustained influence over nearly a decade, Lokhorst's contributions remain relevant reference points for researchers tackling manipulation, force control, and human-robot interaction challenges.