Challenge the future Delft University of Technology Some Observations on Human Control of a Bicycle Jodi Kooijman

2 Some Observations on Human Control of a Bicycle | 24 Contents Bicycle Dynamics Rider Control Observations Town ride Treadmill experiments Conclusions

3 Some Observations on Human Control of a Bicycle | 24 Bicycle Dynamics Cornell University, Ithaca, NY : Yellow Bike in the Car Park Simple Experiment

4 Some Observations on Human Control of a Bicycle | 24 Bicycle Dynamics Cornell University, Ithaca, NY : Yellow Bike in the Car Park Simple Experiment

5 Some Observations on Human Control of a Bicycle | 24 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 Some Observations on Human Control of a Bicycle | 24 Bicycle Dynamics For the straight ahead upright motion with lean angle , steering angle  and forward speed v : Standard bicycle + rider : Linearized Eqn’s of Motion

7 Some Observations on Human Control of a Bicycle | 24 Bicycle Dynamics Stable forward speed range 4.5 < v < 8.0 m/s Parameter: forward speed Root Loci

8 Some Observations on Human Control of a Bicycle | 24 Contents Bicycle Dynamics Rider Control Observations Town ride Treadmill experiments Conclusions

9 Some Observations on Human Control of a Bicycle | 24 Rider Control Test Setup 3 rate gyros: Lean, Yaw and Steer 1 steer angle potentiometer 2 forward speed 1 pedal cadence pickup 1 video camera CompactRIO data collection Measure rider control on an instrumented bicycle

10 Some Observations on Human Control of a Bicycle | 24 Rider Control A ride into town

11 Some Observations on Human Control of a Bicycle | 24 Rider Control A ride into town, video images 1:40 5:40 6:30 12:30 15:45

12 Some Observations on Human Control of a Bicycle | 24 Rider Control A ride into town, collected data

13 Some Observations on Human Control of a Bicycle | 24 Rider Control Size 3x5 m, v max =35 km/h, VUAmsterdam, Fac. of Human Movement Sciences. Treadmill Experiments

14 Some Observations on Human Control of a Bicycle | 24 Rider Control 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 Treadmill Experiments

15 Some Observations on Human Control of a Bicycle | 24 Rider Control Observations 30 kph 15 kph 5 kph 4, 3, 2 kph Treadmill Experiments – Normal Cycling ; Pedaling

16 Some Observations on Human Control of a Bicycle | 24 Rider Control Observations Treadmill Experiments – Normal Cycling ; Pedaling

17 Some Observations on Human Control of a Bicycle | 24 Rider Control Observations Frequency plot Treadmill Experiments – Normal Cycling ; Pedaling

18 Some Observations on Human Control of a Bicycle | 24 Rider Control Observations 30kph – 15kph -5kph Treadmill Experiments – Towing

19 Some Observations on Human Control of a Bicycle | 24 Rider Control Observations Treadmill Experiments – Towing

20 Some Observations on Human Control of a Bicycle | 24 Rider Control Observations Treadmill Experiments – Towing

21 Some Observations on Human Control of a Bicycle | 24 Rider Control Observations 30kph – 15kph -5kph Treadmill Experiments – Perturbation

22 Some Observations on Human Control of a Bicycle | 24 Rider Control Observations Strip chart Treadmill Experiments – Perturbation

23 Some Observations on Human Control of a Bicycle | 24 Rider Control Observations Frequency plot Treadmill Experiments – Perturbation – 30kph

24 Some Observations on Human Control of a Bicycle | 24 Conclusions 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. For Stabilizing task: Future Work: