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<italic>Goal</italic>: To develop bending angle sensors based on double-layer capacitance for monitoring joint angles during cycling exercises. <italic>Methods</italic>: We develop a bending angle sensor based on double-layer capacitive and conducted three stretching, bending, and cycling tests to evaluate its validity. <italic>Results</italic>: We demonstrate that the bending angle sensor based on double-layer capacitance minimizes the change in the capacitance difference in the stretching test. The hysteresis and root mean square error (RMSE) compared with the optical motion capture show hysteresis: 8.0&#x0025; RMSE and 3.1&#x00B0; in the bending test. Moreover, a cycling experiment for human joint angle measurements confirm the changes in accuracy. The RMSEs ranged from 4.7&#x00B0; to 7.0&#x00B0;, even when a human wears leggings fixed with the developed bending-angle sensor in the cycling test. <italic>Conclusion</italic>: The developed bending angle sensor provides a practical application of the quantitative and observational evaluation tool for knee joint angles.