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 1.4.1 Steering servomechanism based on the Torso-Arms-Handlebar theory:

a) Simple block diagram:

The new Torso-Arms-Handlebar theory considers that the rider uses his torso lean angle to control the 2-Wheeler lean angle according to the block diagram shown below, where:

- The INPUT is the rider’s torso lean angle to the vertical. The rider keeps his torso straight up to go straight and leans his torso to the right in order to go right.

- The OUTPUT is the 2-Wheeler lean angle to the vertical.

The Torso-Arms-Handlebar mechanism constitutes a key component of this non-obvious steering servomechanism.

b) But it's not the INPUT or the torso lean angle to the vertical that immediately controls the Torso-Arms-Handlebar mechanism:

It rather is the torso lean angle to the 2-Wheeler that controls the Torso-Arms-Handlebar mechanism, since it is this lean angle to the 2-Wheeler that makes the arms push-pull on the handlebar.

The INPUT or torso lean angle to the vertical may be 15 degrees to its right, but if the OUTPUT or 2-Wheeler lean angle to the vertical is 10 degrees also to its right, the final torso lean angle to the 2-Wheeler is only:

(15 - 10) = 5 degrees = (INPUT – OUTPUT)

Or the INPUT minus the OUTPUT.

Thus, it is the INPUT minus the OUTPUT that is fed into the Torso-Arms-Handlebar mechanism.

d) So the INPUT minus the OUTPUT is fed into the Torso-Arms-Handlebar mechanism:

Thus, the rider on his 2-Wheeler acts as an Error Detector between the INPUT and the OUTPUT:

e) Finally, the Torso-Arms-Handlebar mechanism controls the front wheel orientation, which acts directly on the Rider plus 2-Wheeler masses on the road, to control the OUTPUT or 2-Wheeler lean angle to the vertical.

f) Animated servomechanism:

The animation below shows the Beginning going straight, the Steps 1, 2 and 3 going into a curve, and the Return back to the vertical. The arrows represent the angle value of the main variables of the steering servomechanism according to the new Torso-Arms-Handlebar steering theory:

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