2A1-D22 自転車練習用能動補助輪の開発 : 能動補助輪による乗車技術習得実験

Abstract

In this study, a development plan of an active training wheel for bicycle exercises was proposed. In the previous study, the authors developed a basic mechanism of the active training wheel and a monitoring system of the condition of the bycycle riding. In this study, first, the active training wheel system was made improvements of motor torque, moving speed comfortability of the wheel by changing motor to high power coreless motor, reduction ratio down to 1/60 and wheel to the wheel for inline skates. After the bicycle exercise experiment using this improved wheel system, it was found that the motor power is still less than restoring the position of the testee and the bicycle to the vertical position. Therefore a restoring force from the training wheel was made a trial by introducing inner toe angle to the training wheel. After the examination, it was found that the toe angle of 5 deg. is the best for the recovering force and less resistance to the straight run. The training scheme was decided as follows, (1) Stable running with both training wheels are on the ground. (2) Balance practice by hopping up the both training wheels to the position that the training wheel is on the ground if the slant angle of the bicycle is 10 deg. (3) After grounding the either training wheel, the bicycle's slant angle was recovered to the vertical position by using active training weds and go back to the first state. A 6-year old testee finally accuired the bicycle riding skill by using this training system.