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Some Observations on Human Control of a Bicycle

Some Observations on Human Control of a Bicycle. Jodi Kooijman. Contents. Bicycle Dynamics Rider Control Observations Town ride Treadmill experiments Conclusions. Bicycle Dynamics. Simple Experiment. Cornell University, Ithaca, NY : Yellow Bike in the Car Park. Bicycle Dynamics.

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Some Observations on Human Control of a Bicycle

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  1. Some Observations on Human Control of a Bicycle Jodi Kooijman

  2. Contents • Bicycle Dynamics • Rider Control Observations • Town ride • Treadmill experiments • Conclusions

  3. Bicycle Dynamics Simple Experiment Cornell University, Ithaca, NY : Yellow Bike in the Car Park

  4. Bicycle Dynamics Cornell University, Ithaca, NY : Yellow Bike in the Car Park Simple Experiment

  5. Bicycle Dynamics Modelling Assumptions: rigid bodies fixed rigid rider hands-free symmetric about vertical plane knife-edge wheels point contact, no side slip flat level road no friction or propulsion Note: Energy Conservative The Model

  6. Bicycle Dynamics For the straight ahead upright motion with lean angle j, steering angle d and forward speed v : Linearized Eqn’s of Motion Standard bicycle + rider :

  7. Bicycle Dynamics Root Loci Parameter: forward speed Stable forward speed range4.5 < v < 8.0m/s

  8. Contents • Bicycle Dynamics • Rider Control Observations • Town ride • Treadmill experiments • Conclusions

  9. Rider Control Test Setup Measure rider control on an instrumented bicycle 3 rate gyros: Lean, Yaw and Steer 1 steer angle potentiometer 2 forward speed 1 pedal cadence pickup 1 video camera CompactRIO data collection

  10. Rider Control A ride into town

  11. Rider Control A ride into town, video images 1:40 5:40 6:30 12:30 15:45

  12. Rider Control A ride into town, collected data

  13. Rider Control Treadmill Experiments Size 3x5 m, vmax=35 km/h, VUAmsterdam, Fac. of Human Movement Sciences.

  14. Rider Control Treadmill Experiments • 3 Experiments • Normal cycling • Towing • Perturbing • 2 Riders, of average ability • Carried out at 30, 25, 20, 15, 10 and 5kph • Measurement duration = 1 minute • Sample rate = 100Hz

  15. Rider Control Observations Treadmill Experiments – Normal Cycling ; Pedaling • 30 kph • 15 kph • 5 kph • 4, 3, 2 kph

  16. Rider Control Observations Treadmill Experiments – Normal Cycling ; Pedaling

  17. Rider Control Observations Treadmill Experiments – Normal Cycling ; Pedaling • Frequency plot

  18. Rider Control Observations Treadmill Experiments – Towing • 30kph – 15kph -5kph

  19. Rider Control Observations Treadmill Experiments – Towing

  20. Rider Control Observations Treadmill Experiments – Towing

  21. Rider Control Observations Treadmill Experiments – Perturbation • 30kph – 15kph -5kph

  22. Rider Control Observations Treadmill Experiments – Perturbation • Strip chart

  23. Rider Control Observations Treadmill Experiments – Perturbation – 30kph • Frequency plot

  24. Conclusions For Stabilizing task: • No upper-body lean. • Steering main control. • Steering frequency = Pedaling frequency • Steering amplitude = 1/(Forward Speed) • At low speeds, knee movement appears to be very important. • More treadmill experiments with more bicycles and more people. Future Work:

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