A Star Wars themed animated comic telling the story of how I wrote my first paper about prosthesis control as a grad student at Caltech.

I made and presented this presentation for my final project for the class "Effective Communication Strategies for Engineers and Scientists" at Caltech. The goal was to develop a creative way to share our research with a general audience. (Spring 2019)

A 10 min overview of 4 projects I've worked on related to a prosthetic leg while a grad student.

I made and presented this presentation for a general audience at PLAYfest 2020.

Presentation for robotics conference.

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 of paper for controls conference.

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

Presentation of paper for robotics conference.

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 with co-first author for robotics conference.

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)