Currently, it is difficult to determine when a novice bicycle rider is ready to ride without training wheels or external assistance. In this study, we quantify the changes that occurred as 10 subjects with disabilities learned to ride traditional bicycles during a specialized bicycle training camp. These changes are revealed by three synchronized wireless inertial measurement units (IMUs) used to measure bicycle kinematics. Out of 10 subjects, 6 were successful in riding a traditional bicycle without assistance by the end of the camp. The peak value of the cross-correlation between steer and roll angular velocities was significantly greater for riders who ultimately succeeded in riding a traditional bike without assistance. This finding suggests that rider learning can be quantified by increased correlation between bicycle steer rate and roll rate. In essence, learning to steer in the direction of lean is an essential skill in learning to ride a bicycle.

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