44
Biologically Inspired Robotics
L 3
L 4
L 0
L
α min
FIGURE 3.10
Solution of the maximum elevation angle for the tap.
human body maintains a comfortable sitting posture. The distance should
not be more than that of the largest upper limbs of the first human example.
The forward angle of almost all the users is less than 45 degrees and they
can exercise in a comfortable range. Thus, the first human example with the
forward angle of 45 degrees is used as a design standard to determine the
maximum tilt angle of the support bar.
According to the first human example, thigh length L 1 is 402 mm and shank
length L 2 is 313 mm. Then the length of the saddle pole can be retrieved from
the above analysis: 448 mm < L < 479 mm. In order to obtain the maximum
tilt angle, L min = 450 mm is used as the length of the saddle pole. The other
data can be retrieved from the first human example: shoulder height L 3 is
518 mm and upper limb length L 4 is 455 mm. The hand crank L 0 is 170 mm.
Under the cosine theorem, as shown in Figure 3.10, the maximum tilt angle
α min is about 37 degrees.
3.4 Design of the Compound Resistance System
As one of the most important parts of a fitness cycle, the resistance system
provides the resistance necessary to build a condition that makes the user
feel like he is riding a bike on a real road. Furthermore, it should be able to
adjust to meet the user’s requirement automatically or manually. Considering
the characteristics of the Bio-Cycle, we designed a resistance system called a
compound resistance system, which is based on the electromagnetic principles
of the eddy current (Huang 1999).
3.4.1 Analysis of Driving Characteristics
The motion of the pedal crank can be divided into four areas in one cycle
(Figure 3.11; He et al. 2005; Li and Liu 2005; Wu, Yuan, and Wu 2007). For
Biologically Inspired Robotics
L 3
L 4
L 0
L
α min
FIGURE 3.10
Solution of the maximum elevation angle for the tap.
human body maintains a comfortable sitting posture. The distance should
not be more than that of the largest upper limbs of the first human example.
The forward angle of almost all the users is less than 45 degrees and they
can exercise in a comfortable range. Thus, the first human example with the
forward angle of 45 degrees is used as a design standard to determine the
maximum tilt angle of the support bar.
According to the first human example, thigh length L 1 is 402 mm and shank
length L 2 is 313 mm. Then the length of the saddle pole can be retrieved from
the above analysis: 448 mm < L < 479 mm. In order to obtain the maximum
tilt angle, L min = 450 mm is used as the length of the saddle pole. The other
data can be retrieved from the first human example: shoulder height L 3 is
518 mm and upper limb length L 4 is 455 mm. The hand crank L 0 is 170 mm.
Under the cosine theorem, as shown in Figure 3.10, the maximum tilt angle
α min is about 37 degrees.
3.4 Design of the Compound Resistance System
As one of the most important parts of a fitness cycle, the resistance system
provides the resistance necessary to build a condition that makes the user
feel like he is riding a bike on a real road. Furthermore, it should be able to
adjust to meet the user’s requirement automatically or manually. Considering
the characteristics of the Bio-Cycle, we designed a resistance system called a
compound resistance system, which is based on the electromagnetic principles
of the eddy current (Huang 1999).
3.4.1 Analysis of Driving Characteristics
The motion of the pedal crank can be divided into four areas in one cycle
(Figure 3.11; He et al. 2005; Li and Liu 2005; Wu, Yuan, and Wu 2007). For