title: A split-crank bicycle ergometer uses servomotors to provide programmable pedal forces for studies in human biomechanics.
abstract: This paper presents a novel computer-controlled bicycle ergometer, the TiltCycle, for use in human biomechanics studies of locomotion. The TiltCycle has a tilting (reclining) seat and backboard, a split pedal crankshaft to isolate the left and right loads to the feet of the pedaler, and two belt-driven, computer-controlled motors to provide assistance or resistance loads independently to each crank. Sensors measure the kinematics and force production of the legs to calculate work performed, and the system allows for goniometric and electromyography signals to be recorded. The technical description presented includes the mechanical design, low-level software and control algorithms, system identification and validation test results.
authors.affiliation: Department of Mechanical Engineering, University of British Columbia, Vancouver, BC V6T1ZT, Canada. vdl@mech.ubc.ca
authors.forename: H F Machiel
authors.initials: HF
authors.lastname: Van der Loos
authors.forename: Lise
authors.initials: L
authors.lastname: Worthen-Chaudhari
authors.forename: Douglas
authors.initials: D
authors.lastname: Schwandt
authors.forename: David M
authors.initials: DM
authors.lastname: Bevly
authors.forename: Steven A
authors.initials: SA
authors.lastname: Kautz
mesh_terms: D000465:Algorithms; D001696:Biomechanical Phenomena; D003627:Data Interpretation, Statistical; D004581:Electronics; D004738:Engineering; D004867:Equipment Design; D005080:Exercise Test / Q000009:adverse effects / Q000295:instrumentation*; D006801:Humans; D008124:Locomotion / Q000502:physiology; D019563:Mechanics; D015203:Reproducibility of Results; D012371:Robotics; D012449:Safety; D012984:Software; D014584:User-Computer Interface