Design and implementation of a steer-by-wire bicycle
G. Dialynas (TU Delft - Biomechatronics & Human-Machine Control)
Riender Happee (TU Delft - Intelligent Vehicles)
AL Schwab (TU Delft - Biomechatronics & Human-Machine Control)
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Abstract
Since the 1800s, the design of bicycles involves a mechanical linkage between the handlebar and the fork assembly. Herein, we propose an innovation, where the traditional mechanical connection between the handlebar and fork is decoupled and replaced with sensors, servomo-tors and a microcontroller allowing artificial manipulation of the bicycle and steering dynamics. The purpose of our steer-by-wire bicycle is to investigate the influence of handlebar torque feedback on rider control in order to understand rider control on a bicycle. In addition, steer-by-wire bicycles have the potential to be used as stability-enhancing support systems which can improve cycling safety. We demonstrate the design and performance of the steer-by-wire bicycle in computer simulations as well as real-life tests. Preliminary rider tests showed a per-ceived near-to-identical behaviour of the steer-by-wire system to a mechanical connection at steering frequencies below 3 Hz.