This research deals with the implementation process of a virtual reality (VR) bicycle simulator that leverages state-of-the-art sensors and actuators to simulate the physical experience of cycling, providing realistic haptic feedback to enhance immersion. The simulator’s novelty lies in its extensive integration of sensors and actuators, coupled with a robust data transmission architecture that facilitates real-time interaction between the VR simulation and physical hardware. This real-time pipeline enables precise reading and writing processes that ensure seamless feedback and control. Designed for usability, scalability, and maintainability, the simulator’s modular architecture supports straightforward “plug-and-play” operation, making it accessible for diverse research applications focused on cycling behavior and safety in urban traffic environments. The bicycle simulator establishes a solid foundation for future studies, enabling the evaluation of general usability, realism, and immersive experience, which will contribute to advancing VR applications in cycling simulation research.