Analysis of a vibrotactile actuator for bicycle handlebars

Vibrotactile systems are convenient solutions for managing interaction between automatic control systems and humans. This paper develops a vibrotactile assistance system (VAS) for high performance bicycles. The system is designed to assist the rider during braking in order to minimize the time to stop, increasing performances and safety. The proposed control architecture is the result of the low cost system requirement and the need to minimize the response time from wheel slip to vibrotactile feedback. A cascade control architecture guarantees the precise control of the excitation frequency and short delays between the front wheel slip and the stimulus to the rider. The controllers are tested on a test bed bike.