Rachel Gehlhar

18 papers A* 3A 1Journal 13Unranked 1
YearRankTypeTitle / Venue / Authors
2023 J jnl
A review of current state-of-the-art control methods for lower-limb powered prostheses.
Annu. Rev. Control.
Rachel Gehlhar, Maegan Tucker, Aaron J. Young, Aaron D. Ames
2023 A* conf
Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control.
ICRA
Rachel Gehlhar, Aaron D. Ames
2022 J jnl
Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control.
CoRR
Rachel Gehlhar, Aaron D. Ames
2022 J jnl
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics.
IEEE Robotics Autom. Lett.
Kejun Li, Maegan Tucker, Rachel Gehlhar, Yisong Yue, Aaron D. Ames
2022 J jnl
Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing.
IEEE Robotics Autom. Lett.
Rachel Gehlhar, Je-Han Yang, Aaron D. Ames
2021 — conf
Estimate-to-State Stability for Hybrid Human-Prosthesis Systems.
CDC
Rachel Gehlhar, Aaron D. Ames
2021 J jnl
Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments.
IEEE Trans. Syst. Man Cybern. Syst.
Vahid Azimi, Tony Shu, Huihua Zhao, Rachel Gehlhar, Dan Simon, Aaron D. Ames
2021 A* conf
Model-Dependent Prosthesis Control with Interaction Force Estimation.
ICRA
Rachel Gehlhar, Aaron D. Ames
2021 J jnl
Model-Dependent Prosthesis Control with Real-Time Force Sensing.
CoRR
Rachel Gehlhar, Je-Han Yang, Aaron D. Ames
2021 J jnl
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics.
CoRR
Kejun Li, Maegan Tucker, Rachel Gehlhar, Yisong Yue, Aaron D. Ames
2021 J jnl
Separable Control Lyapunov Functions With Application to Prostheses.
IEEE Control. Syst. Lett.
Rachel Gehlhar, Aaron D. Ames
2020 J jnl
Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces.
Sci. Robotics
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
2020 A conf
Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses.
IROS
Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames
2020 J jnl
Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses.
CoRR
Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames
2020 J jnl
Model-Dependent Prosthesis Control with Interaction Force Estimation.
CoRR
Rachel Gehlhar, Aaron D. Ames
2020 J jnl
Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator.
CoRR
Chang Gao, Rachel Gehlhar, Aaron D. Ames, Shih-Chii Liu, Tobi Delbruck
2020 A* conf
Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator.
ICRA
Chang Gao, Rachel Gehlhar, Aaron D. Ames, Shih-Chii Liu, Tobi Delbruck
2019 J jnl
Control of Separable Subsystems with Application to Prostheses.
CoRR
Rachel Gehlhar, Jenna Reher, Aaron D. Ames