Experimental verification of assist control for single-track vehicles

Single-track vehicles including unicycles and bicycles are unstable, and require human riding skill and practice for acquiring the skill. Sometimes the practice of single-track vehicle may be difficult in many situations for beginners because it becomes relatively terrible and is difficult to carry on continuously. A unicycle simulator and a power-assist system for bicycles have been developed in this project. The dynamics of the simulator and the dynamics of the assisted bicycle can be adjusted according to a trainee, and they allow trainee to exercise effectively.