Abstract: A manpower-driven cycle comprising a driving mechanism transforming a reciprocating motion of a handle into a rotary motion of a rear wheel. A steering and maintaining device comprises a telescopic actuating system with articulated tubes along parallelograms deformable in the direction of a longitudinal supporting rod. A pair of toothed meshing gears are linked by connecting rods to the telescopic actuating system to permanently maintain the handle axis in a vertical median plane passing through the rod.