Abstract: An electromechanical portion of the control stick includes a two-axis gimbal, with each axis including a mechanical gimbal structure supported by rolling element bearings, cam based centering mechanisms, linkages to connect a geared power-drive including a resolver commutated brushless DC motor and compound-planetary gearhead to provide active force feedback, and several electrically independent RVDT position sensors. The gearing architecture uses a fixed-cage, rotating internal gear arrangement on a planetary gearhead, which may be single or multi-stage. The output torque of the gearhead is provided by a feature on the outer housing of the rotating internal ring gear, allowing an axial placement of the entire power-drive in a more central location, reducing the moment load on the gearhead output cage bearings, and facilitating a compact drive arrangement of the gimbal using linkages. Additionally, a common power-drive can be used for both the roll and pitch axes.