I. Introduction
Considering the need for reducing transportation costs and improving city mobility, the power-assisted bikes (PABs) have gained more and more popularity in the recent past [1] [2]. A PAB, regarded as a conventional bicycle with power assistance, will be only activated while pedaling. The rider and the power assistance system in PAB share the driving effort such that the cyclist’s fatigue and physical effort can be reduced compared to a standard bike [3].