Automatic Bicycle Balance Assistance Reduces Probability of Falling at Low Speeds When Subjected to Handlebar Perturbations

Abstract

Uncontrolled bicycles are generally unstable at low speeds. We add a controlled steering motor to a consumer electric bicycle that stabilizes it at low speeds. To test the motor’s assistance during falls, we apply varying magnitude external handlebar perturbations to the bicycle while ridden on a treadmill with the balance assist system activated and deactivated. The probability of not recovering from a handlebar perturbation decreases when the balance assist is activated at a travel speed of 6 km/h. Use of a balance assist system in real world bicycling will reduce the number of falls that occur near riders’ control authority limits.