About Me

Hello, I am Rachel Gehlhar, a PhD candidate and NSF Fellow at California Institute of Technology in Pasadena, CA. I work in the Advanced Mechanical Bipedal Experimental Robotics Lab (AMBER Lab) under the advisement of Dr. Aaron D. Ames. For my PhD research I focus on developing and implementing control methods for a lower-limb powered prosthetic leg. I enjoy working on both the theoretical and experimental side of this project, establishing formal guarantees of stability for prosthesis control methods and realizing these control methods on hardware through coding, sensor integration, and experimental testing. I also love creating scientific presentations, teaching, and mentoring students. If you're interested in discussing my research with me, please contact me at rgehlhar@caltech.edu!

Research

My latest result is realizing the first model-dependent lower-limb prosthesis controller that utilizes real-time force feedback to complete the model. These results are shown in the video below. To see more research videos and my publications, see my research page.

Presentations

I am passionate about scientific communication and enjoy putting together presentations for a variety of audience types. Below is a video of my favorite presentation for a general audience where I tell the story of how I wrote my first paper through a Star Wars themed animated comic. To see my other presentations, see my presentation page.

Media

I've had the privilege of being a part of various news stories on our lab's research. One video from NPR of Southern California is shown below. More articles, videos, and podcasts from this media can be found on my media page.

Curriculum Vitae

For more details on my research and other experiences, you can view and download my CV.