Demonstration of an SAC-Based Power Assist System for Pedaling Motions

This paper considers energy-efficient power assist system for pedaling motions, especially for electric bicycles. Due to the constraints of human musculoskeletal systems, the pedaling motion of bicycles is periodic. Therefore, the velocity of bicycles involve pulsation. In order to improve the energy efficiency of such motion, the suppression of the pulsation is effective. In addition, the variation of power train models of bicycle cannot be ignore when considering assist system to suppress the velocity pulsation. To address this model variation, we propose a SAC (simple adaptive control)-based power assist system. We demonstrate the proposed assist system through an experiment using an electric bicycle.