A split-crank, servomotor-controlled bicycle ergometer design for studies in human biomechanics

This paper presents a novel computer-controlled bicycle ergometer, the TiltCycle, for use in human biomechanics studies of pedaling. The TiltCycle has a tilting (reclining) seat and backboard, a split crank to isolate the left and right loads to the feet of the cyclist, and two belt-driven, computer-controller motors to provide both assistance and resistance loads. Sensors measure the kinematics and force production of the pedaling work performed, as well as goniometer and electromyography signals from the lower limbs. The technical description includes the mechanical design, low-level software and control algorithms designed for studies in human lower-limb biomechanics and bilateral coordination, and concludes with validation testing and system identification results.