Abstract: A front wheel is placed on a lifting table, which is rotated by an actuator together with the front wheel. By rotating the lifting table by the actuator, the front wheel is rotated under constraint of a steering mechanism of an automobile. The rotation angle of an arm with respect to a base is detected by an encoder provided at an end of an extendable rod which pivotally supports the arm in a rotatable manner. The rotation angle of the base is detected by a second encoder to determine the rotation angle ?2??1 and rotation radius Lt of the front wheel under constraint of the steering mechanism. Based on reaction force F detected by a load cell, rotation radius Lt, and rotation angle ?2??1, friction torque Tt is determined.

Abstract: A front wheel is placed on a lifting table, which is rotated by an actuator together with the front wheel. By rotating the lifting table by means of the actuator, the front wheel is rotated under constraint of a steering mechanism of an automobile. The rotation angle of an arm with respect to a base is detected by an encoder provided at an end of an extendable rod which pivotally supports the arm in a rotatable manner, and the rotation angle of the base is detected by a second encoder so as to determine the rotation angle ?2??1 and rotation radius Lt of the front wheel under constraint of the steering mechanism. Based on reaction force F detected by a load cell, rotation radius Lt, and rotation angle ?2??1, friction torque Tt is determined.