Below lists my academic papers with videos that present the results. For full reference details and to follow my academic publications, please see my Google Scholar page.

Rachel Gehlhar and Aaron D. Ames. "Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control." Submitted to 2023 IEEE International Conference on Robotics and Automation (ICRA), 2022. (pdf)

**prosthesis designed and built by Eric Ambrose.

Rachel Gehlhar, Je-han Yang, Aaron D. Ames. "Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control with Real-Time Force Sensing." IEEE Robotics and Automation Letters (RA-L), 7(2): 5151-5158, 2022, and ICRA, 2022. (pdf)

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 and Automation Letters (RA-L), 7(2): 4283-4290, 2022, and ICRA, 2022. (pdf)

Rachel Gehlhar, Aaron D. Ames. "Estimate-to-State Stability for Hybrid Human-Prosthesis Systems." 2021 IEEE Conference on Decision and Control, 2021. (pdf)

Rachel Gehlhar, Aaron D. Ames. "Model-Dependent Prosthesis Control with Interaction Force Estimation." 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021. (pdf) (presentation)

Rachel Gehlhar, Aaron D. Ames. "Separable Control Lyapunov Functions With Application to Prostheses." IEEE Control Systems Letters, 5(2): 559–564, 2021. (pdf) (presentation)

You Yu, Joanna 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." Science Robotics 5(41), 2020. (pdf) (highlighted in Nature Electronics, CNET, and Caltech News)

Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames. "Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses." 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)​​​​​​​, 2020. (pdf) (presentation)

Chang Gao*, Rachel Gehlhar*, Aaron D. Ames, Shih-Chii Liu, and Tobi Delbruck. "Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator." 2020 IEEE International Conference on Robotics and Automation (ICRA)​​​​​​​, 2020. (pdf) (presentation)

*denotes equal contribution

Rachel Gehlhar, Jenna Reher, Aaron D. Ames. "Control of Separable Subsystems with Application to Prostheses." arXiv preprint arXiv:1909.03102, 2019. (pdf)

Vahid Azimi , Tony Shu, Huihua Zhao, Rachel Gehlhar, Dan Simon , and Aaron D. Ames. "Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments." IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS, 2019. (pdf)