Rachel Gehlhar

According to our database, Rachel Gehlhar authored at least 14 papers between 2019 and 2023.

Collaborative distances:

• Dijkstra number of five.
• Erdős number of four.

2023

A review of current state-of-the-art control methods for lower-limb powered prostheses.

Rachel Gehlhar, Maegan Tucker, Aaron J. Young, Aaron D. Ames

Annu. Rev. Control., January, 2023

Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control.

Rachel Gehlhar, Aaron D. Ames

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics.

Kejun Li, Maegan Tucker, Rachel Gehlhar, Yisong Yue, Aaron D. Ames

IEEE Robotics Autom. Lett., 2022

Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing.

Rachel Gehlhar, Je-Han Yang, Aaron D. Ames

IEEE Robotics Autom. Lett., 2022

2021

Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments.

Vahid Azimi, Tony Shu, Huihua Zhao, Rachel Gehlhar, Dan Simon, Aaron D. Ames

IEEE Trans. Syst. Man Cybern. Syst., 2021

Separable Control Lyapunov Functions With Application to Prostheses.

Rachel Gehlhar, Aaron D. Ames

IEEE Control. Syst. Lett., 2021

Model-Dependent Prosthesis Control with Real-Time Force Sensing.

Rachel Gehlhar, Je-Han Yang, Aaron D. Ames

CoRR, 2021

Model-Dependent Prosthesis Control with Interaction Force Estimation.

Rachel Gehlhar, Aaron D. Ames

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Estimate-to-State Stability for Hybrid Human-Prosthesis Systems.

Rachel Gehlhar, Aaron D. Ames

Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021

2020

Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces.

You Yu, Joanna M. Nassar, Changhao Xu, Jihong Min, Yiran Yang, Adam Dai, Rohan Doshi, Adrian Huang, Yu Song, Rachel Gehlhar, Aaron D. Ames, Wei Gao

Sci. Robotics, 2020

Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator.

Chang Gao, Rachel Gehlhar, Aaron D. Ames, Shih-Chii Liu, Tobi Delbrück

CoRR, 2020

Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses.

Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator.

Chang Gao, Rachel Gehlhar, Aaron D. Ames, Shih-Chii Liu, Tobi Delbrück

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Control of Separable Subsystems with Application to Prostheses.

Rachel Gehlhar, Jenna Reher, Aaron D. Ames

CoRR, 2019