Accurate time series of steer torque and a variety of kinematics of bicyclists performing closed loop maneuvers and perturbation recovery are available here:
We showed that the linear Whipple-Carvallo model was not an ideal predictor of the plant model in [Moore2012] and [Moore2013]. In these papers we identified 4th order plant models that provided better explanatory power, but the best plant model was a black box. It is likely that a simple extension or some simple extensions to the Whipple-Carvallo model could provide first principles explanations of the definciencies in the Whipple-Carvallo model. Ideally this new model would stay 4th order, because the black box 4th order model is predictive. Some things that could be investigated:
simple tire scrub torque models
stiffness, damping, and inertial effects of the arms
stiffness, damping, and inertial effects of the neck/head
[Moore2013] J. K. Moore and M. Hubbard, “Identification of open loop dynamics of a manually controlled bicycle-rider system,” presented at the Bicycle and Motorcycle Dynamics, Narashino, Chiba, Japan, Nov. 2013.
[vanderKooij2005] H. van der Kooij, E. van Asseldonk, and F. C. T. van der Helm, “Comparison of different methods to identify and quantify balance control,” Journal of Neuroscience Methods, vol. 145, no. 1–2, pp. 175–203, Jun. 2005, doi: 10.1016/j.jneumeth.2005.01.003.
Description
Accurate time series of steer torque and a variety of kinematics of bicyclists performing closed loop maneuvers and perturbation recovery are available here:
https://figshare.com/projects/Human_Control_Identification_During_Bicycling/22067
We showed that the linear Whipple-Carvallo model was not an ideal predictor of the plant model in [Moore2012] and [Moore2013]. In these papers we identified 4th order plant models that provided better explanatory power, but the best plant model was a black box. It is likely that a simple extension or some simple extensions to the Whipple-Carvallo model could provide first principles explanations of the definciencies in the Whipple-Carvallo model. Ideally this new model would stay 4th order, because the black box 4th order model is predictive. Some things that could be investigated:
simple tire scrub torque models
stiffness, damping, and inertial effects of the arms
stiffness, damping, and inertial effects of the neck/head
friction in rotating joints
[Moore2012] http://moorepants.github.io/dissertation/systemidentification.html#bicycle-model-validity
[Moore2013] J. K. Moore and M. Hubbard, “Identification of open loop dynamics of a manually controlled bicycle-rider system,” presented at the Bicycle and Motorcycle Dynamics, Narashino, Chiba, Japan, Nov. 2013.
[vanderKooij2005] H. van der Kooij, E. van Asseldonk, and F. C. T. van der Helm, “Comparison of different methods to identify and quantify balance control,” Journal of Neuroscience Methods, vol. 145, no. 1–2, pp. 175–203, Jun. 2005, doi: 10.1016/j.jneumeth.2005.01.003.
Prior Art
Proposed Methods
Required Resources