Rider/bicycle pose estimation with IMU/seat force measurements

Unstable bicycle provides an excellent platform to understand human sensorimotor mechanism for balancing control. We present an instrumented bicycle system to study the dynamic interactions between the human rider and the bicycle. A dynamics model is presented to capture the energetic interactions between the rider and the bicycle. We use and integrate the measurements from the seat force sensor and the rider body-mounted inertial measurement unit (IMU) to estimate both the rider's and bicycle's poses. Experimental results are presented to demonstrate the capability of the pose estimation development.