Bicycle pedaling has been studied from both a motor control and an equipment setup and design perspective. In both cases, although the dynamics of the bicycle drive system may have an influence on the results, a thorough understanding of the dynamics has not been developed. This study pursued three objectives related to developing such an understanding. The first was to identify the limitations of the inertial/frictional drive system model commonly used in the literature. The second was to investigate the advantages of an inertial/frictional/compliant model. The final objective was to use these models to develop a methodology for configuring a laboratory ergometer to emulate the drive system dynamics of road riding. Experimental data collected from the resulting road-riding emulator and from a standard ergometer confirmed that the inertial/frictional model is adequate for most studies of road-riding mechanics or pedaling coordination. However, the compliant model was needed to reproduce the phase shift in crank angle variations observed experimentally when emulating the high inertia of road riding. This finding may be significant for equipment setup and design studies where crank kinematic variations are important or for motor control studies where fine control issues are of interest. [S0148-0731(00)02004-5]
Issue Section:
Technical Papers
Topics:
Bicycles,
Dynamometers,
Gears,
Roads,
System dynamics,
Inertia (Mechanics),
Torque,
Friction,
Motor controls
1.
Coast
, R. J.
, and Welch
, H. G.
, 1985
, “Linear Increase in Optimal Pedal Rate With Increased Power Output in Cycle Ergometry
,” Eur. J. Appl. Physiol.
, 53
, pp. 339
–342
.2.
Henderson
, S. C.
, Ellis
, R. W.
, Klimovitch
, G.
, and Brooks
, G. A.
, 1977
, “The Effects of Circular and Elliptical Chainwheels on Steady-Rate Cycle Ergometer Work Efficiency
,” Med. Sci. Sports
, 9
, pp. 202
–207
.3.
Kautz
, S. A.
, Feltner
, M. E.
, Coyle
, E. F.
, and Baylor
, A. M.
, 1991
, “The Pedaling Technique of Elite Endurance Cyclists: Changes With Increasing Workload at Constant Cadence
,” Int. J. Sport Biomech.
7
, pp. 229
–253
.4.
Billat
, V. L.
, Richard
, R.
, Binsse
, V. M.
, Koralsztein
, J. P.
, and Haouzi
, P.
, 1998
, “The VO2 Slow Component for Severe Exercise Depends on Type of Exercise and Is Not Correlated With Time to Fatigue
,” J. Appl. Physiol.
, 85
, pp. 2118
–2124
.5.
Patterson
, R. P.
, and Moreno
, M. I.
, 1990
, “Bicycle Pedalling Forces as a Function of Pedalling Rate and Power Output
,” Med. Sci. Sports Exerc.
, 22
, pp. 512
–516
.6.
Takaishi
, T.
, Yasuda
, Y.
, and Moritani
, T.
, 1994
, “Neuromuscular Fatigue During Prolonged Pedalling Exercise at Different Pedalling Rates
,” Eur. J. Appl. Physiol.
, 69
, pp. 154
–158
.7.
Bolourchi
, F.
, and Hull
, M. L.
, 1985
, “Measurement of Rider Induced Loads During Simulated Bicycling
,” Int. J. Sport Biomech.
, 1
, pp. 308
–329
.8.
Hull
, M. L.
, and Jorge
, M.
, 1985
, “A Method for Biomechanical Analysis of Bicycle Pedalling
,” J. Biomech.
, 18
, pp. 631
–644
.9.
Nordeen-Snyder
, K. S.
, 1977
, “The Effect of Bicycle Seat Height Variation Upon Oxygen Consumption and Lower Limb Kinematics
,” Med. Sci. Sports Exerc.
, 9
, pp. 113
–117
.10.
Hull
, M. L.
, Williams
, M.
, Williams
, K.
, and Kautz
, S.
, 1992
, “Physiological Response to Cycling With Both Circular and Noncircular Chainrings
,” Med. Sci. Sports Exerc.
, 24
, pp. 1114
–1122
.11.
Marsh
, A. P.
, and Martin
, P. E.
, 1995
, “The Relationship Between Cadence and Lower Extremity EMG in Cyclists and Noncyclists
,” Med. Sci. Sports Exerc.
, 27
, pp. 217
–225
.12.
Ruby
, P.
, Hull
, M. L.
, and Hawkins
, D.
, 1992
, “Three-Dimensional Knee Joint Loading During Seated Cycling
,” J. Biomech.
, 25
, pp. 41
–53
.13.
Hagberg
, J. M.
, Mullin
, J. P.
, Giese
, M. D.
, and Spitznagel
, E.
, 1981
, “Effect of Pedaling Rate on Submaximal Exercise Responses of Competitive Cyclists
,” J. Appl. Physiol.
, 51
, pp. 447
–451
.14.
Stone
, C.
, and Hull
, M. L.
, 1993
, “Rider/Bicycle Interaction Loads During Standing Treadmill Cycling
,” J. Appl. Biomech.
, 9
, pp. 202
–218
.15.
Swain
, D. P.
, and Wilcox
, J. P.
, 1992
, “Effect of Cadence on the Economy of Uphill Cycling
,” Med. Sci. Sports Exerc.
, 24
, pp. 1123
–1127
.16.
Tanaka
, H.
, Bassett
, Jr., D. R.
, Best
, S. K.
, and Baker
, Jr., K. R.
, 1996
, “Seated Versus Standing Cycling in Competitive Road Cyclists: Uphill Climbing and Maximal Oxygen Uptake
,” Can. J. Appl. Physiol.
, 21
, pp. 149
–154
.17.
Gonzalez
, H.
, and Hull
, M. L.
, 1989
, “Multivariable Optimization of Cycling Biomechanics
,” J. Biomech.
, 22
, pp. 1151
–1161
.18.
Yoshihuku
, Y.
, and Herzog
, W.
, 1990
, “Optimal Design Parameters of the Bicycle-Rider System for Maximal Muscle Power Output
,” J. Biomech.
, 23
, pp. 1069
–1079
.19.
Hull
, M. L.
, Kautz
, S. A.
, and Beard
, A.
, 1991
, “An Angular Velocity Profile in Cycling Derived From Mechanical Energy Analysis
,” J. Biomech.
, 24
, pp. 577
–586
.20.
Kautz
, S. A.
, and Hull
, M. L.
, 1995
, “Dynamic Optimization Analysis for Equipment Setup Problems in Endurance Cycling
,” J. Biomech.
, 28
, pp. 1391
–1401
.21.
Miller
, N. R.
, and Ross
, D.
, 1980
, “The Design of Variable-Ratio Chain Drives for Bicycles and Ergometers—Application to a Maximum Power Bicycle Drive
,” ASME J. Mech. Des.
, 102
, pp. 711
–717
.22.
Wang
, E. L.
, and Hull
, M. L.
, 1996
, “A Model for Determining Rider Induced Energy Losses in Bicycle Suspension Systems
,” Vehicle Syst. Dynam.
25
, pp. 223
–246
.23.
Citterio
, G.
, and Agostoni
, E.
, 1984
, “Selective Activation of Quadriceps Muscle Fibers According to Bicycling Rate
,” J. Appl. Physiol.
, 57
, pp. 371
–379
.24.
Duchateau
, J.
, Le Bozec
, S.
, and Hainaut
, K.
, 1986
, “Contributions of Slow and Fast Muscles of Triceps surae to a Cyclic Movement
,” Eur. J. Appl. Physiol.
, 55
, pp. 476
–481
.25.
Suzuki
, S.
, Watanabe
, S.
, and Homma
, S.
, 1982
, “EMG Activity and Kinematics of Human Cycling Movements at Different Constant Velocities
,” Brain Res.
, 240
, pp. 245
–258
.26.
Gregor
, R. J.
, Komi
, P. V.
, Browning
, R. C.
, and Ja¨rvinen
, M.
, 1991
, “A Comparison of the Triceps surae and Residual Muscle Moments at the Ankle During Cycling
,” J. Biomech.
, 24
, pp. 2287
–2297
.27.
Jorge
, M.
, and Hull
, M. L.
, 1986
, “Analysis of EMG Measurement During Bicycle Pedalling
,” J. Biomech.
, 19
, pp. 683
–694
.28.
Fregly
, B. J.
, Zajac
, F. E.
, and Dairaghi
, C. A.
, 1996
, “Crank Inertial Load Has Little Effect on Steady-State Pedaling Coordination
,” J. Biomech.
, 29
, pp. 1559
–1567
.29.
Lo¨llgen
, H.
, Ulmer
, H.-V.
, Gross
, R.
, Wilbert
, G.
, and van Nieding
, G.
, 1975
, “Methodical Aspects of Perceived Exertaion Rating and Its Relation to Pedalling Rate and Rotating Mass
,” Eur. J. Appl. Physiol.
, 34
, pp. 205
–215
.30.
Patterson
, R. P.
, and Pearson
, J. L.
, 1983
, “The Influence of Flywheel Weight and Pedalling Frequency on the Biomechanics and Physiological Responses to Bicycle Exercise
,” Ergonomics
, 26
, pp. 659
–668
.31.
Fregly
, B. J.
, and Zajac
, F. E.
, 1996
, “A State-Space Analysis of Mechanical Energy Generation, Absorption, and Transfer During Pedaling
,” J. Biomech.
, 29
, pp. 81
–90
.32.
Neptune
, R. R.
, and Hull
, M. L.
, 1998
, “Evaluation of Performance Criteria for Simulation of Submaximal Steady-State Cycling Using a Forward Dynamic Model
,” ASME J. Biomech. Eng.
, 120
, pp. 334
–340
.33.
Raasch
, C. C.
, Zajac
, F. E.
, Ma
, B.
, and Levine
, W. S.
, 1997
, “Muscle Coordination of Maximum-Speed Pedaling
,” J. Biomech.
, 30
, pp. 595
–602
.34.
Fregly, B. J., 1993, “The Significance of Crank Load Dynamics to Steady-State Pedaling Biomechanics: an experimental and Computer Modeling Study,” Ph.D. dissertation, Stanford University, Stanford, CA.
35.
Fregly, B. J., and Zajac, F. E., 1989, “A Dynamical, Two-Legged Biomechanical Model to Study the Neuromuscular Control of Pedaling,” in: Issues in the Modeling and Control of Biomechanical Systems, Stein, J. L., Ashton-Miller, J. A., and Pandy, M. G., eds., ASME DSC-Vol. 17, pp. 29–33.
36.
Whitt, F. R., and Wilson, D. G., 1990, Bicycling Science, MIT Press, Cambridge, MA.
37.
Martin
, J. C.
, Milliken
, D. L.
, Cobb
, J. E.
, McFadden
, K. L.
, and Coggan
, A. R.
, 1998
, “Validation of a Mathematical Model for Road Cycling Power
,” J. Appl. Biomech.
, 14
, pp. 276
–291
.38.
Newmiller
, J.
, Hull
, M. L.
, and Zajac
, F. E.
, 1988
, “A Mechanically Decoupled Two Force Component Bicycle Pedal Dynamometer
,” J. Biomech.
, 21
, pp. 375
–386
.39.
Winter, D. A. 1979, Biomechanics of Human Movement, J Wiley, New York.
40.
Pandy
, M. G.
, Anderson
, F. C.
, and Hull
, D. G.
, 1992
, “A Parameter Optimization Approach for the Optimal Control of Large-Scale, Musculoskeletal Systems
,” ASME J. Biomech. Eng.
, 114
, pp. 450
–460
.41.
Sargeant, B., 1999, Personal communication regarding inertial properties of the Velodyne trainer.
Copyright © 2000
by ASME
You do not currently have access to this content.
