14 citations · 30 across the 6 of their papers we have counts for
7 papers
Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control
Rachel Gehlhar, Aaron D. Ames
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee req…
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics
Kejun Li, Maegan Tucker, Rachel Gehlhar +2
Generating stable walking gaits that yield natural locomotion when executed on robotic-assistive devices is a challenging task that often requires hand-tuning by domain experts. Th…
Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control with Real-Time Force Sensing
Rachel Gehlhar, Je-han Yang, Aaron D. Ames
Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in pr…
Model-Dependent Prosthesis Control with Interaction Force Estimation
Rachel Gehlhar, Aaron D. Ames
Current prosthesis control methods are primarily model-independent - lacking formal guarantees of stability, relying largely on heuristic tuning parameters for good performance, an…
Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses
Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames
This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extrac…
Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator
Chang Gao, Rachel Gehlhar, Aaron D. Ames +2
Lower leg prostheses could improve the life quality of amputees by increasing comfort and reducing energy to locomote, but currently control methods are limited in modulating behav…
Control of Separable Subsystems with Application to Prostheses
Rachel Gehlhar, Jenna Reher, Aaron D. Ames
Nonlinear control methodologies have successfully realized stable human-like walking on powered prostheses. However, these methods are typically restricted to model independent con…