Static and dynamic ergonomic corrects of torque controlled in bicycle ergometer

In this paper various methods of ergonomics improvement in electric bicycle pedaling are discussed. The main goal is to control an average amperage of generator powered by a cyclist, but considering the unsteadiness of human legs torque vs. angular position of the support. In the paper, four different approaches for generating the current reference trajectory are compared — two of them use only position signal, and the next two use also velocity signal in the ergonomic improvements calculations.