Rachel Gehlhar

Publication Activity (10 Years)

Years Active: 2019-2023
Publications (10 Years): 18

Top Topics

Receding Horizon

Top Venues

IEEE Robotics Autom. Lett.

Annu. Rev. Control.

Publications

Rachel Gehlhar, Aaron D. Ames
Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control. ICRA (2023)
Rachel Gehlhar, Maegan Tucker, Aaron J. Young, Aaron D. Ames
A review of current state-of-the-art control methods for lower-limb powered prostheses. Annu. Rev. Control. 55 (2023)
Rachel Gehlhar, Aaron D. Ames
Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control. CoRR (2022)
Kejun Li, Maegan Tucker, Rachel Gehlhar, Yisong Yue, Aaron D. Ames
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics. IEEE Robotics Autom. Lett. 7 (2) (2022)
Rachel Gehlhar, Je-Han Yang, Aaron D. Ames
Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing. IEEE Robotics Autom. Lett. 7 (2) (2022)
Rachel Gehlhar, Aaron D. Ames
Model-Dependent Prosthesis Control with Interaction Force Estimation. ICRA (2021)
Kejun Li, Maegan Tucker, Rachel Gehlhar, Yisong Yue, Aaron D. Ames
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics. CoRR (2021)
Rachel Gehlhar, Aaron D. Ames
Estimate-to-State Stability for Hybrid Human-Prosthesis Systems. CDC (2021)
Rachel Gehlhar, Aaron D. Ames
Separable Control Lyapunov Functions With Application to Prostheses. IEEE Control. Syst. Lett. 5 (2) (2021)
Vahid Azimi, Tony Shu, Huihua Zhao, Rachel Gehlhar, Dan Simon, Aaron D. Ames
Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments. IEEE Trans. Syst. Man Cybern. Syst. 51 (2) (2021)
Rachel Gehlhar, Je-Han Yang, Aaron D. Ames
Model-Dependent Prosthesis Control with Real-Time Force Sensing. CoRR (2021)
Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames
Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses. CoRR (2020)
Chang Gao, Rachel Gehlhar, Aaron D. Ames, Shih-Chii Liu, Tobi Delbrück
Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator. CoRR (2020)
Chang Gao, Rachel Gehlhar, Aaron D. Ames, Shih-Chii Liu, Tobi Delbrück
Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator. ICRA (2020)
Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames
Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses. IROS (2020)
Rachel Gehlhar, Aaron D. Ames
Model-Dependent Prosthesis Control with Interaction Force Estimation. CoRR (2020)
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
Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces. Sci. Robotics 5 (41) (2020)
Rachel Gehlhar, Jenna Reher, Aaron D. Ames
Control of Separable Subsystems with Application to Prostheses. CoRR (2019)