Abstract: A rear derailleur for bicycles includes an articulated quadrilateral mechanism composed of a base component and a movable component, connected to each other by first and second connector components articulated with respect to components, a chain tensioner connected to the movable component, and a floating linear actuation unit composed of a base body, articulated with respect to one of the components of the articulated quadrilateral mechanism and a movable body for deforming the articulated quadrilateral mechanism, and causing a displacement of the chain tensioner with a main component in direction of the wheel axle A. The rear derailleur further includes a power-supply arranged on the floating linear actuation unit and a wireless unit including a wireless receiver, the wireless unit being arranged on the floating linear actuation unit.

Abstract: A bicycle comprising a frame; a handlebar assembly attached to an upper steering tube of the frame in such a way that at least the relative rotation between the two with respect to an upper axis is allowed, but the relative displacements between both in the directions perpendicular to the upper axis are restricted; a fork attached to a lower steering tube of the frame so that it has the same degrees of freedom relative to the lower axis between the fork and the lower steering tube as the degrees of freedom relative to the upper axis between the handlebar assembly and the upper steering tube; and a means for rotation transmission for transmitting at least partially a rotation of the handlebar assembly with respect to the upper tube into a rotation of the fork with respect to the lower steering tube.

Abstract: A vehicle includes a stimulus generator whose inputs are at least the mechanical torque (Tm) of the electric motor (M) measured by an estimator (TmE) of the mechanical torque (Tm) of the motor (M), and the velocity (V) measured by an estimator (VE) of the velocity (V) and whose outputs are a velocity control stimulus (VS) and a torque control stimulus (TS) towards the user (U). A vehicle includes a stimulus generator (SG) whose inputs are the power (Pu) measured by the estimator (PuE), and the velocity (V) measured by the estimator (VE) of the velocity (V) and whose output is a forced velocity control stimulus (VFS) that results in the velocity setpoint (V*) of the electric motor (M). Control procedures for these vehicles are also described.

Abstract: A bicycle comprising a frame; a handlebar assembly attached to an upper steering tube of the frame in such a way that at least the relative rotation between the two with respect to an upper axis is allowed, but the relative displacements between both in the directions perpendicular to the upper axis are restricted; a fork attached to a lower steering tube of the frame so that it has the same degrees of freedom relative to the lower axis between the fork and the lower steering tube as the degrees of freedom relative to the upper axis between the handlebar assembly and the upper steering tube; and a means for rotation transmission for transmitting at least partially a rotation of the handlebar assembly with respect to the upper tube into a rotation of the fork with respect to the lower steering tube.