Mas, awesome podcast -- and thanks for posting his handout too.
I've just finished reading the most recent (May 2009) Force Science newsletter. It's got a great summary of Borsch's current research into this area, a fascinating read. Worth a look...
http://www.forcescience.org
(The May newsletter doesn't appear to have made it onto the site yet. Give it a day or two maybe -- as I said, definitely worth the read.)
pax