Being handicapped cycle dependent may cause limitations in functioning, i.e. impede functions of daily living and/or participation. To improve ambulation, the Foot Steered user combination can be optimized at three levels. On the level of the user one can optimize physical capacity and technique by training. The second level focuses on the Foot steered tricycle user interface, i.e. the interaction between the human system and the geometry of both the seating orientation and steering mechanism, aiming for a higher efficiency. This operation gives us a better ratio of internal power from the user to the external power required for drive. Finally, at the level of the Tricycle the focus lies on minimizing power loss of the Tricycle-User by reducing frictional forces and optimizing the vehicle mechanics. To advance handicapped cycle design, better insight in the working mechanisms of our biological system in combination with a mechanical extension, such as the handicapped cycle is necessary.