As robots are becoming more accessible in our daily lives, the interest in physical human-robot interaction (HRI) is rapidly increasing. With easy accessibility to the robots, physical interaction between humans and robots has become a necessity, not an option. An electric bicycle (E-bike) is one of the great examples of HRI because a rider simultaneously actuates the rear wheel of the E-bike in close proximity. Based on the analysis of human dynamics, we are developing a robotic bike which can 1) increase driving efficiency(human & bike), and 2) increase steering stability. As a result, our algorithm required 5.09% less human energy consumption than a conventional algorithm (power assistant system) and 11.01% less energy consumption than a bicycle operated without power assistance. Furthermore, our algorithm also increased velocity stability and acceleration stability of the R-bike, and decreased jerk to provide riders with the best user experience.