Dynamic Analysis of Micromobility In-Wheel Suspension System – Enhancing Safety in Urban Environments
Downloads
Micromobility has emerged as a major global trend in urban transportation. However, it has also led to a rise in accidents, largely attributed to improper usage and inadequate safety precautions. This paper presents a model developed for the dynamic analysis of an in-wheel suspension system for micromobility vehicles, along with proposals for its improvement. The model accounts for challenges related to urban infrastructure, particularly variation in various obstacle types and heights on cycle road pavement, using the city of Vilnius (Lithuania) as a case study. The research paper additionally evaluates factors affecting rider safety and risk, with a primary focus on in-plane dynamics. The dynamic analysis demonstrates that the in-wheel suspension system enhances riding safety across simulated variations. These findings help identify critical vertical dynamic risks for micromobility in urban area and offer insights for future city’s road infrastructure planning.
Downloads
Lee K, Yun C, Yun M. Contextual risk factors in the use of electric kick scooters: An episode sampling inquiry. Safety Science. 2021;139:1-13. DOI: 10.1016/j.ssci.2021.105233
Bozzi AD, Aguilera A. Shared E-scooters: A review of uses, health and environmental impacts, and policy implications of a new micro-mobility service. Sustainability. 2021;13:1-17. DOI: 10.3390/su13168676
Karpinski E, Bayles E, Daigle L, Mantine D. Characteristics of early shared e-scooter fatalities in the United States 2018–2020. Safety Science. 2022;153:1-11. DOI: 10.1016/j.ssci.2022.105811
World Health Organization. Global Plan: Decade of Action for Road Safety 2021-2030. The UN General Assembly adopted resolution 74/299. 2021; https://www.who.int/publications/m/item/global-plan-for-the-decade-of-action-for-road-safety-2021-2030 [Accessed 10th October 2025].
Karpenko M, Prentkovskis O, Skačkauskas P. Analysing the impact of electric kick-scooters on drivers: vibration and frequency transmission during the ride on different types of urban pavements. Eksploatacja i Niezawodność – Maintenance and Reliability. 2025;27(2):1-14. DOI: 10.17531/ein/199893
Delclòs-Alió X, den Hoed W. Perceptions of potential cycling infrastructure in a low-cycling context: Evidence from a medium-sized urban area. International Journal of Sustainable Transportation. 2024;18(12):999-1011. DOI: 10.1080/15568318.2024.2424420
Sanjurjo-de-No A, Pérez-Zuriaga AM, García A. Factors influencing the pedestrian injury severity of micromobility crashes. Sustainability. 2023;15(14348):1-17. DOI: 10.3390/su151914348
Yang H, et al. Safety of micro-mobility: Analysis of E-Scooter crashes by mining news reports. Accident Analysis & Prevention. 2020;143:1-13. DOI: 10.1016/j.aap.2020.105608
Karpenko M, Prentkovskis O, Skačkauskas P. Electric kick scooter driving simulation - risks and safety. Reliability and Statistics in Transportation and Communication. RelStat 2023. Lecture Notes in Networks and Systems (Springer, Cham). 2024;913:21-30. DOI: 10.1007/978-3-031-53598-7_2
Kleinertz H, et al. Accident mechanisms and injury patterns in e-scooter users – A retrospective analysis and comparison with cyclists. Deutsches Arzteblatt International. 2021; 118(8): 117-121. DOI: 10.3238/arztebl.m2021.0019
Garman C, Como S, Campbell I, Wishart J. Micro-mobility vehicle dynamics and rider kinematics during electric scooter riding. SAE Technical Paper. 2020;0935:1-15. DOI: 10.4271/2020-01-0935
Stosiak M, Karpenko M. Dynamics of machines and hydraulic systems: mechanical vibrations and pressure pulsations. Springer: Synthesis Lectures on Mechanical Engineering (SLME). 2024;179. DOI: 10.1007/978-3-031-55525-1
Asperti M, Vignati M, Braghin F. Modelling of the vertical dynamics of an electric kick scooter. IEEE Transactions on Intelligent Transportation Systems. 2022;23(7):9266-9274. DOI: 10.1109/TITS.2021.3098438
Xiong J, Liu C. Symmetry and relative equilibria of a bicycle system moving on a surface of revolution. Nonlinear Dynamics. 2021;106:2859–2878. DOI: 10.1007/s11071-021-06950-x
Polanco A, et al. Effect of rider posture on bicycle comfort. Proceedings of the ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. 2019; 3: 1-10. DOI: 10.1115/DETC2019-97763
Blajer W, Dziewiecki K, Mazur Z. Multibody modeling of human body for the inverse dynamics analysis of sagittal plane movements. Multibody Systems Dynamics. 2007;18(2):217–232. DOI: 10.1007/s11044-007-9090-2
Bogdevičius M, Karpenko M, Bogdevičius P. Determination of rheological model coefficients of pipeline composite material layers based on spectrum analysis and optimization. Journal of Theoretical and Applied Mechanics. 2021;59(2):265-278. DOI: 10.15632/jtam-pl/134802
Karpenko M, Skačkauskas P, Prentkovskis O. Methodology for the composite tire numerical simulation based on the frequency response analysis. Eksploatacja i Niezawodność – Maintenance and Reliability. 2023;25(2):1-11. DOI: 10.17531/ein/163289
Karpenko M, Prentkovskis O, Skačkauskas P. Numerical simulation of vehicle tyre under various load conditions and its effect on road traffic safety. Promet - Traffic&Transportation. 2024;36(1):1–11. DOI: 10.7307/ptt.v36i1.265
Softwheel technology website. 2025. https://www.softwheel.technology/technology [Accessed 10th October 2025].
International Organization for Standardization. Mechanical vibration — road surface profiles. Reporting of Measured Data. Standard ISO 8608:2016. 2016; 36p. Available: https://www.iso.org/standard/71202.html
Danilevičius A, Karpenko M, Křivánek V. Research on the noise pollution from different vehicle categories in the urban area. Transport. 2023;38(1):1-11. DOI: 10.3846/transport.2023.18666
Kleizienė R, Šernas O, Vaitkus A, Simanavičienė R. Asphalt pavement acoustic performance model. Sustainability. 2019;11(10):1-15. DOI: 10.3390/su11102938
Bogdevičius M, Karpenko M, Rožytė D. Methodology for determination coefficients values of the proposed rheological model for the tire tread. Proceedings of the 12th international conference TRANSBALTICA, Vilnius, Lithuania. Cham: Springer. 2022;16-27. DOI: 10.1007/978-3-030-94774-3_2
Karpenko M, Skačkauskas P, Prentkovskis O. Investigation of vibration and frequency transmission to riders from electric kick-scooters on various urban pavements. In Transport Transitions: Advancing Sustainable and Inclusive Mobility. TRAconference 2024. Lecture Notes in Mobility. Springer, Cham. 2026;1:747-753 DOI: 10.1007/978-3-031-88974-5_107
Stosiak M. The impact of hydraulic systems on the human being and the environment. Journal of Theoretical and Applied Mechanics. 2015;53(2):409-420. DOI: 10.15632/jtam-pl.53.2.409
Stosiak M. Ways of reducing the impact of mechanical vibrations on hydraulic valves. Archives of Civil and Mechanical Engineering. 2015; vol. 15(2): 392-400. DOI: 10.1016/j.acme.2014.06.003
Stosiak M, Towarnicki K. Possibilities of effective passive vibration isolation of hydraulic valves. Journal of Theoretical and Applied Mechanics. 2022;60(1):113-127. DOI: 10.15632/jtam-pl/144794
Arslan E, Uyulan C. Analysis of an e-scooter and rider system dynamic response to curb traversing through physics-informed machine learning methods. Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 2022;1:1-17. DOI: 10.1177/09544070221100111
Leonelli L, Mancinelli N. A multibody motorcycle model with rigid-ring tyres: Formulation and validation. Vehicle Systems Dynamics. 2015;53(6):775–797. DOI: 10.1080/00423114.2015.1014820
Babojelić K., Novačko L. Modelling of driver and pedestrian behaviour – a historical review. Promet - Traffic&Transportation. 2020;32(5):727-745. DOI: 10.7307/ptt.v32i5.3524
Krukowicz T, et al. The relationship between bicycle traffic and the development of bicycle infrastructure on the example of Warsaw. Archives of Transport. 2021;60(4):187-203. DOI: 10.5604/01.3001.0015.6930
Rapoport S, et al. (2003). Constant and variable stiffness and damping of the leg joints in human hopping. Journal of Biomechanical Engineering. 2003;125(4):507-514. DOI: 10.1115/1.1590358
Li S, Liu X, Song Y. Stability analysis of switched continuous-time systems with stable and unstable subsystems. Procedia Computer Science. 2022;199:929-936. DOI: 10.1016/j.procs.2022.01.117
Cheng L, Xu X, Xue Y, Zhang H. Stability analysis of switched systems with all subsystems unstable: a matrix polynomial approach. ISA Transactions. 2021;114:99-105. DOI: 10.1016/j.isatra.2020.12.031
Peet M. Exponentially stable nonlinear systems have polynomial Lyapunov functions on bounded regions. IEEE Transactions on Automatic Control. 2009;54(5):979-987. DOI: 10.1109/TAC.2009.2017116
Osman M., Speekenbrink M. Controlling stable and unstable dynamic decision-making environments. Proceedings of the Annual Meeting of the Cognitive Science Society. 2011;33:778-783.
Osman M, Speekenbrink M. Prediction and control in a dynamic environment. Frontiers in Psychology. 2012;3:1-12. DOI: 10.3389/fpsyg.2012.00068
Balasubramaniam, R. On the control of unstable objects: the dyna mics of human stick balancing. Progress in Motor Control. Advances in Experimental Medicine and Biology (Springer). 2013;782:149-168. DOI: 10.1007/978-1-4614-5465-6_8
Copyright (c) 2026 Mykola KARPENKO, Dominykas EIČINAS

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.













