I disagree, compared with most objects a human daily interacts with - doors, furniture, lifts, cars - a bicycle is one of the most complex visible forms. I'm talking about what can be seen from outside, since obviously a car is much more complex on the inside.
Most of the stuff we deal with is composed of square/boxes and circle/tubes. Triangular shapes are quite rare in human spaces (I don't have any in my house), and the bicycle critically has two triangles at it's core. Chains are also very rare. So I don't think it's a surprise that many struggle with the core - two triangles and a chain.