Follow
Rachel Gehlhar Humann
Rachel Gehlhar Humann
Assistant Professor, University of Minnesota
Verified email at umn.edu - Homepage
Title
Cited by
Cited by
Year
Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces
Y Yu, J Nassar, C Xu, J Min, Y Yang, A Dai, R Doshi, A Huang, Y Song, ...
Science robotics 5 (41), eaaz7946, 2020
4692020
A review of current state-of-the-art control methods for lower-limb powered prostheses
R Gehlhar, M Tucker, AJ Young, AD Ames
Annual reviews in control 55, 142-164, 2023
452023
Design, fabrication, and characterization of multifunctional wings to harvest solar energy in flapping wing air vehicles
A Perez-Rosado, RD Gehlhar, S Nolen, SK Gupta, HA Bruck
Smart Materials and Structures 24 (6), 065042, 2015
442015
Model-based adaptive control of transfemoral prostheses: Theory, simulation, and experiments
V Azimi, T Shu, H Zhao, R Gehlhar, D Simon, AD Ames
IEEE Transactions on Systems, Man, and Cybernetics: Systems 51 (2), 1174-1191, 2019
302019
Recurrent neural network control of a hybrid dynamical transfemoral prosthesis with EdgeDRNN accelerator
C Gao, R Gehlhar, AD Ames, SC Liu, T Delbruck
2020 IEEE International Conference on Robotics and Automation (ICRA), 5460-5466, 2020
172020
Separable control lyapunov functions with application to prostheses
R Gehlhar, AD Ames
IEEE Control Systems Letters 5 (2), 559-564, 2020
112020
Natural multicontact walking for robotic assistive devices via musculoskeletal models and hybrid zero dynamics
K Li, M Tucker, R Gehlhar, Y Yue, AD Ames
IEEE Robotics and Automation Letters 7 (2), 4283-4290, 2022
102022
Powered prosthesis locomotion on varying terrains: Model-dependent control with real-time force sensing
R Gehlhar, J Yang, AD Ames
IEEE Robotics and Automation Letters 7 (2), 5151-5158, 2022
92022
Data-driven characterization of human interaction for model-based control of powered prostheses
R Gehlhar, Y Chen, AD Ames
2020 IEEE/RSJ international conference on intelligent robots and systems …, 2020
82020
Control of separable subsystems with application to prostheses
R Gehlhar, J Reher, AD Ames
arXiv preprint arXiv:1909.03102, 2019
82019
Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces. Sci. Robot. 5, eaaz7946 (2020)
Y Yu, J Nassar, C Xu, J Min, Y Yang, A Dai, R Doshi, A Huang, Y Song, ...
8
Model-dependent prosthesis control with interaction force estimation
R Gehlhar, AD Ames
2021 IEEE International Conference on Robotics and Automation (ICRA), 3226-3232, 2021
62021
Estimate-to-state stability for hybrid human-prosthesis systems
R Gehlhar, AD Ames
2021 60th IEEE Conference on Decision and Control (CDC), 705-712, 2021
32021
Emulating human kinematic behavior on lower-limb prostheses via multi-contact models and force-based nonlinear control
R Gehlhar, AD Ames
2023 IEEE International Conference on Robotics and Automation (ICRA), 10429 …, 2023
22023
Model-based lower-limb powered prosthesis control: Developing and realizing nonlinear subsystem control methods for generalizable prosthesis control
R Gehlhar
California Institute of Technology, 2023
22023
Model-Dependent Prosthesis Control with Real-Time Force Sensing
R Gehlhar, J Yang, AD Ames
CoRR, 2021
2021
The system can't perform the operation now. Try again later.
Articles 1–16