Abstract: This invention provides a force neutralizing mechanism 500 coupled to a single lever control 10 and a transmission controlled by the lever 10 for overcoming the transmission linkage forces F.sub.2 associated with controls of a pair of mechanical transmissions 532 so that the mechanical transmissions 532 may be comfortably controlled by the single lever control 10.

Abstract: A cursor movement control key and electronic keyboard for a computer having a video display incorporates a force-sensitive resistor having a junction resistance which varies inversely with pressure applied thereto. The external key cap engages an actuator which bears against the force-sensitive resistor. The actuator has a plurality of four pads which bear against respective electrode regions of the force-sensitive resistor. The pads are positioned at the 0.degree., 90.degree., 180.degree., and 270.degree. positions. The actuator mounts relative to a keyboard mounting plate. At least one of the actuator and mounting plate include opposed lateral projections which engage relative to the other of the actuator and mounting plate to both, a) retain the actuator to the mounting plate, and yet b) allow clearance for tilting movement of the actuator relative to the mounting plate.

Abstract: A single lever blade control apparatus for bulldozers that is capable of operating in three mutually perpendicular planes to activate three independent hydraulic valves controlling a bulldozer blade: up/down, tilt and angle. Movement of the bulldozer blade in an up/down motion is accomplished by the operator by pushing the single lever apparatus in the X direction, the X direction corresponding to the longitudinal axis of the bulldozer. Movement of the bulldozer blade in the tilt direction is accomplished by the operator pushing the single lever apparatus in the Y direction. Angling the bulldozer blade is accomplished by the operator rotating the handle of the single lever apparatus about the Z axis. The invention works with all variations of hydraulic valve placement.

Abstract: An actuator assembly (14) suitable for use in a hand controller (10) with six degrees of freedom of movement consists of a pair of arms (20) each secured at one end to a respective rotary actuator (26), and at the other end secured to a common universal joint (21). The arms (20) are coupled directly to the drive shafts (25) of the rotary actuators (26) and their movement is restricted.

Abstract: A manually activated bidimensional, boundaryless input control system having particular application to a computer to enable the computer operator to selectively ana accurately control the positioning of a video image (e.g. a cursor) on a computer monitor. The input system comprises a contact bar which is located near the front of the computer keyboard so as to be readily accessible to the computer operator for rotation around a fixed axis. The contact bar carries a plurality of evenly spaced, longitudinally extending belts which may be rotated by the computer operator in a longitudinal direction around the bar. Movement sensing devices are interfaced with and responsive to both the rotation of the bar and at least one of the belts extending longitudinally therealong.

Abstract: A motion device with three legs provides six degrees of freedom using a pair of motor assemblies (22) to drive each leg. Each leg has a differential drive (28, 30, 32, 40) for providing a pitch-roll joint connected to an elbow (16) for providing a pitch joint connected to a second roll joint (56) connected to a universal joint (62, 72). An actuated plate (10) is connected to the universal joint. All of the motors drive the differential drive from the base of the unit and do not add inertia to the actuated plate. The same kinematic arrangement can be used for hand controllers as well as for end effectors and other movable platforms.

Abstract: An active hand controller system is provided wherein a feedback loop detects the position of a control stick to control a motor driving the control stick to thereby provide certain force feel characteristics to the control stick. The feedback loop includes a detector for detecting force exerted for the control stick to generate a signal indicative of the force or torque being applied to the control stick. In a more specific aspect, the invention includes the use of variable reluctance transformers, preferably in a push/pull configuration to detect the forces being exerted on the control stick.

Abstract: A conventional monoplane mouse is constructed to move on a flat surface upon a single plane within which a contained sphere may rotate tangential with the single plane contacting the flat surface. Signals for XY cursor movement are derived from two or more counting sensors positioned at an equator of the rotatable sphere parallel with the single plane. The mouse invention defines two or more facets in the underside housing. The facet mouse can be tilted to one of the exclusive facets and moved on a flat surface to generate XY signals. The facet plane selected by tilt is identified by triggered pressure sensitive switches at each facet plane. The switches also function as undercarriage feet to define the virtual plane of contact to the flat surface. The facet planes in two and four facet embodiments are oriented with the orthogonally placed sphere counting sensors so that the intersect of any two opposing facets is parallel with the plane of rotation of one of the counting wheels.

Abstract: An improved apparatus for manually manipulating a surgical laser beam is disclosed. The preferred embodiment of the invention includes a mirror nominally positioned at a 45 degree angle to the incident laser beam, a joy stick for manipulating the mirror, and a linkage interconnecting the two. The mirror is mounted to allow it to rotate about two mutually perpendicular and intersecting axes. The linkage operates to direct the reflected laser beam in two orthogonal dimensions such that a ratio between the movement of the reflected beam in each dimension is equivalent to the ratio of the movement of the joy stick in each dimension. This yields a reflected laser beam that moves a distance proportional to the amount of motion input to the joy stick. The reduction or amplification ratio between the input motion and the reflected laser beam motion remains constant, regardless of the direction of motion.

Abstract: A wrist mechanism comprising a pipe 52 extended in relation to a front .alpha.-axis among the three axes of motion (.alpha.-axis, .beta.-axis, .gamma.-axis) of a wrist, on a center axis A--A of turning motion through the center of an .alpha.-axis reduction gear, a universal pipe coupling 61 provided in relation to a .beta.-axis on the center axis B--B of motion, a pipe 51 having one end connected to the pipe 52 and the other end connected to the pipe coupling 61, and a hose 4 extended along a support arm 3 and connected through the pipe coupling 61 to the pipe 51. The wrist mechanism is incorporated into a robot for work in which a fluid is used, such as an application of an adhesive and sealant.

Abstract: In a control device for shifting gears in an automotive-vehicle transmission, including a lever for input of the shifting motion that is pivotal about a first axis (I) in a first plane and about a second axis (II) in a second plane perpendicular to the first plane, and including output members movable substantially parallel to the first axis (I), the first output member is coupled to the lever via a joint and transfers a pivotal motion of the lever about the second axis (II), while the second output member is kinematically coupled to the lever by an interposed angular revolving train and transfers a pivotal motion of the lever about the first axis (I). The train has an input shaft and an output shaft that is perpendicular to the input shaft and is connected thereto by interengaging bevel gears. The lever is pivotally mounted on the input shaft so as to pivot about the second axis (II), and the second output member is connected to the output shaft by a one-armed output lever.

Abstract: Valves and a common control therefor are disclosed in connection with an installation in a boat for use in hauling and servicing traps such as lobster traps. Such a boat has a line hauler and a davit provided with a snatch block and the davit is mounted to swing between positions in which the snatch block is located inboard above a washboard or with the snatch block outboard with the line to the trap trained over the snatch block and about the hauler. There are two valve controlled hydraulic circuits of which one controls the hauler and the other the davit. The control consists of a mount provided with a rotatable support which has a fixed fulcrum and slidably supports a shaft to which an operating handle is pivotally connected to the shaft so that by raising and lowering the handle the shaft is similarly moved and the shaft may be turned by swinging the handle relative to the support.

Abstract: A mechanism is provided for producing control signals for use in controlling equipment which includes a rotatable cylinder having on the surface thereof grooves which act with one or more gears to directly translate the rotation or sliding movements of the cylinder to encoders. In other embodiments, switches are activated by pressure on certain elements of the mechanism.

Abstract: An apparatus for selectively controlling endwise movement of two control members comprising first structure including body structure supporting the members for selective endwise movement thereof; actuator structure coupled to the members for selectively moving the members endwise; and lock structure selectively movable into locking relation with the members to selectively block endwise movement thereof.

Abstract: A control for a device of the type comprising at least one electronic measuring head supported by a structure composed of several elements that are capable of being displaced along the three axes X, Y and Z driven by means of electric motors 12 to 14 having a speed regulator and a control means for supply circuits 12a to 14a of the above motors.According to the invention, the manual control comprises at least one control assembly 20 mounted on an element of the structure and having a single lever for actuating a harness that detects the displacements of said lever by use of sensors 30 to 37 mounted thereon and convert the displacement into voltages a, b, c and d.

Abstract: A control mechanism for actuating multiple valve spools with a single control lever includes a frame member to which a valve assembly having multiple valve spools is assembled. A fixed shaft is mounted in a spaced parallel relationship to said valve spools, with a plurality of motion transfer devices mounted to the fixed shaft which are connected at one end to the valve spools. The other ends of the motion transfer devices are connected to an adapter which is mounted to a spherical pivot in such a way that only one of the valve spools is operated when the lever is reciprocated in a first control direction, only one other valve spool is operated when the lever is reciprocated in a second control direction, and only another valve spool is operated when the lever is twisted up to a predetermined amount. The first, second and third valve spools can be operated one at a time, two at a time or all at once.

Abstract: A variable resistance joystick (20) configured for computer control is provided. A stepper motor (34) turns threaded screws (30) to move a system of springs (26) up and down on the joystick thus varying the lever arm on which the springs impart force. Thus computer commands (113) to the stepper motor may change the force required by a user to move the joystick. A similar system controls the resistance to movement of a button (108) in the joystick handle (42).

Abstract: An operating lever device constructed such that the members thereof having a comparatively high rigidity can be used in such a way as to minimize the wear-down thereof and enable the angle of inclination of the lever to be detected precisely over a long period of time. The operating lever device is arranged such that any one of a plurality of rod members (22) which are inserted slidably while they are constantly urged upward into the device body (10) can be pushed down by the tilting of a lever (20) so as to rotate either a first shaft (23) or a second shaft (24) through a retaining member (27) or (28) held in contact with the lower end of the rod member (22). Thus, the angle of inclination of the lever (20) can be detected precisely by either one of rotational angle sensors (25, 26) mounted on at least one end of each of the first and second shafts.

Abstract: A joystick and associated circuit including a joystick handle and angularly oriented opposed pairs of first and second switches positioned apart from each other on respective axes, the switches being selectively actuatable by movements of the handle, and a resistive path connected to each pair of opposed switches between an operating voltage source and an output terminal, each resistive path providing selected resistance to the respective output terminal which is representative of corresponding movements of the handle, each resistive path including resistive elements connected between the operating voltage source and the respective output terminal, activation of the switches causing the resistance of the respective resistive path to be altered to provide different resistive values to the output terminal.

Abstract: An active virtual pivot hand controller using motors to control reflective forces and torques. Degree of freedom parameters, stops, and reflective force rates may be easily modified without altering hardware. The location of the virtual pivot of the hand controller may be likewise readily changed.

Abstract: A force and torque converter provides command signals representative of a translational applied force and an applied torque extending about an axis substantially perpendicular to the axis along which the translational force is applied. The apparatus comprises a body to which the force and torque are applied, first and second connecting means attached to the body, means for biasing the connecting means to a central position and sensor means comprising two sensor devices arranged to detect a displacement force in each of the first and second connecting means respectively and which respond to the applied translation force and also respond to the torque to resolve the torque into a force comprising two components. A very important embodiment of the invention is arranged to operate in three dimensions and to resolve any applied torque into a respective components related to three mutually perpendicular axes.

Abstract: A method and equipment for remote control of the movements of a telecamera or cinecamera (4), mounted on a motorized actuator head (3) with the possibility of movements around two axes at right angles to each other (X', Y') of PAN and TILT respectively, comprising an acquirer head (1) on which a television monitor (13) is mounted, movable around two axes at right angles to each other (X, Y) of PAN and TILT respectively, the movements of the acquirer head (1), imparted by the operator, being read by special sensors (15, 16), which send electric signals to a central control unit (2) for the instantaneous operation of the motors of the actuator head (3), in such a way that there is a direct proportion between the movements of the two heads (1, 3).

Abstract: A control mechanism for a displaceable control member such as an aircraft pilot's "joystick" includes an array of pressure transducers (20) in contact with a pressure plate (22) which in turn is in pivotal connection with the control member (10) operated by the pilot. Adjustable springs (26) bias the pressure plate (22) towards the transducers (20). Pivotal movement of the control member (10) tends to compress the springs (26) and to cause the transducers (20) to generate output signals representative of differential pressure. The signals are then processed by circuitry (34) to provide inputs to flight control computers.

Abstract: A control system for regulating starting and various operations of a walk behind and self-propelled trencher. The control system conditions the trencher for forward, neutral, and reverse operation through use of a single control lever mounted for sliding movement in a common plane extending between a neutral/start position and a drive position and thence in another plane to forward or reverse positions to control the direction of the trencher. When the control lever is in a neutral/start position, a power assembly on the trencher is ineffective to drive wheels used to propel the trencher across a field. When the control lever is shifted to a drive position, a drive path is established between the power assembly and at least one of the wheels on the trencher. The control system is configured to allow the power assembly to be started only when the control lever is in a neutral/start position and prevents starting of the power assembly when the control lever is in other than a neutral/start position.

Abstract: The object of the inventioin is to provide a pilot valve which is compact, prevents erroneous operation, and is inexpensive to manufacture. The pilot valve includes a valve body (1), inlet port (2) and outlet ports (3) formed in the valve body, spools (4) operable to interrupt/establish communication between the inlet port (2) and the outlet port (3), pistons (8) for slidably moving the spools (4), a lever (15), and a disk (14) adapted to transmit movement of the lever (15) and having a downwardly directed spherical recess (23). The valve body has a spherical projection (20) pivotably received in the spherical recess (23). A lever mounting shaft (13) is prevented from rotating about its own axis during operation of the lever.

Abstract: A control mechanism to control endwise displacement of first and second output member in response to variable positioning of an input member, comprising a frame; a first pivotal part carried by the frame to pivot about a first axis, the first output member connected to the first part; a second pivotal part carried by the first part to pivot about a second axis, the second output member connected to the second part; a control handle connected to the second pivotal part to pivot with the parts and to control pivoting thereof; guide structure on the frame to guide the pivoting of at least one of the handle and parts; and lock structure on the frame to releasably lock the one of the handle and parts in a lock position to which it is pivotally movable by the handle in response to guiding by the guide structure.

Abstract: A hand lever of a selecting device of an automatically changing change-speed gearbox is inserted in a pre-assembled acceptance part which is connected via a joint to a setting linkage leading to a selection element. A predetermined installation position can be thus achieved with a positioning device.

Abstract: A hand controller which includes a hand grip having therein a mechanism for allowing truly linear motion along at least two axes by modifying a four-bar linkage with a second four-bar linkage to counteract any rotational motion that would otherwise occur.

Abstract: A system includes a control station for remotely controlling an animated character. Radio frequencies are used to transfer audio, video and other control signals to the animated character to provide speech, hearing, vision and practically any movement in real-time. A camera is used in the head of the animated character, and microphones are used in its ears to provide vision and hearing to a monitoring operator at the control station. A speaker is co-located with the animated character to generate sound from the operator. Servo control units are included within the animated character to provide a plurality of body movements. Other aspects of the animated character includes a multi-layer skin composite to make it appear more life-like, and an audio driver circuit for controlling the mouth of the animated character in proportion to the level of an audio signal generated at the control station. The system includes a motorized joystick to control the movement of the animated character.

Abstract: A control transmitter, especially for hydraulic valves comprises a housing, a switching rod which is arranged in the housing deflectably in at least two main axes, a ball pivot turnably supporting the switching rod in the housing, two control brackets arranged perpendicularly to one another and turnably supported in the housing so that the switching rod is in operative connection with the control brackets, a rotary angle transmitter arranged on a bearing point of each of the control brackets, a spring-loaded sliding body arranged on the switching rod and having an outer edge which slides over a conically curved contour of the housing having different raising portions.

Abstract: A trackball assembly has a ball supported on a bottom ball support, which is rotatably and translationally mounted on a lower support having an upper support conntected thereto. The ball protrudes through an opening, which has a beveled inner surface, in a retaining cap releasably secured to an upper wall of the upper support to enable manipulation of the ball by a user to position a pointer on a computer screen. The amount and direction of movement of the ball during its rotation in each of X and Y coordinate directions are sensed by two silicone rubber rollers, which are substantially perpendicular to each other, engaging the ball. Each roller is mounted on a metal shaft, which extends through an enlarged hole in a shaft support mounted on the lower support to enable limited pivoting of the shaft and the roller thereon.

Abstract: Two toroidal magnets (221, 22) are coupled to each other by a ferrous spherical spacer (23). The spacer (23) partially engages openings (24, 25) provided in the two magnet surfaces facing each other. The facing magnet surfaces have the same polarity, repelling each other. The configuration creates a stable equilibrium by conduction of the magnetic flux through the spacer and the repulsive forces at the periphery of the magnets. This structure forms a resilient pivot joint which when capped by a spherical handle (30) attached to the upper magnet (21) becomes a multiple-axis pointng device or a tactile sensor (20).

Abstract: A joystick controller employs differential pairs of electronic sensors to detect the direction of displacement of the joystick shaft and a single electronic sensor to detect the magnitude of the displacement. The differential pairs of sensors output signals representative of the direction of the displacement of the joystick shaft from a datum. The single sensor outputs signals having a magnitude representative of the magnitude of the displacement. A controller uses the output signals to control a dependent device. In one embodiment, the controller compares the sensor output signals to predetermined threshold values and ignores movements of the shaft which cause the sensors to generate output signals having magnitudes below the threshold values.

Abstract: A computer mouse has a unique push-button configuration which enhances button assignment flexibility while remaining user friendly. Three buttons are provided with a middle button having a smaller but raised surface area when compared to the other two buttons.

Abstract: Side stick controllers with isolated pitch and roll control movement may be mechanically linked. A control stick mechanism includes a hand-operated control member (10, 10') movable to swing about two axes of rotation (12, 14). A first lever member (16, 16') on the control member (10, 10') moves in response to swinging movement of the control member (10, 10') about a first axis of rotation (12). A reciprocating member (20) has a first portion (22) pivotally attached to the control member (10, 10') at a location (24) spaced from the second axis of rotation (14). The reciprocating member (20) has an elongated second portion (26) axially movable along a line of reciprocation substantially co-axial with the first axis of rotation (12) in response to swinging movement of the control member (10, 10') about the second axis of rotation (14).

Abstract: A hand controller which includes a hand grip having therein a gimble mechanism for allowing rotatory motion about three axes which intersect in the interior of the hand grip and from which motion transmitting members allow the motions about the three axes to be transmitted to remote pick off devices and also along which force feedback signals may be fedback to the gimble structure to provide the correct "feel" for the grip.

Abstract: A control lever assembly e.g.

Abstract: A joy stick includes a base, and a post having a lower portion extending through a retainer which is rotatable about the base. A spring is biased between the post and the retainer, and another spring is biased between the base and the post so that the post is biased upward relative to the retainer and the base. Four switches have blades disposed beside the lower portion of the post. The blades can be depressed by the lower portion of the post. When the post is depressed, the depression force on the post can be balanced by the springs so that the joy stick will not be worn out very quick and can endure longer.

Abstract: An electric remote control device (20), includes a metal body (25) containing sliding pushers (27) associated two by two and actuated from an actuating member (22). Each pusher is associated with a converter for generating an electric signal one parameter of which is representative of the movement and/or position of the pusher. A signal processor processes the signal collected at the output of the receiver. At the end of the metal body (25) opposite the actuating member is provided a metal base (35) through which pass the rods of the pushers (27) associated with the converter. At least one printed circuit board (40), supporting the electronic components, in particular those of the converter and the signal processor, is disposed substantially perpendicularly to the base (35) in the central zone thereof, between and/or along the rods of the pushers (27). Supports (39) made from heat conducting material are fixed for heat conducting to the base and support the printed circuit boards.

Abstract: A single lever control is disclosed. The single lever control comprises a lever, a lever mount, and a control rod having first and second ends, the lever is attached to the lever mount and the control rod and the lever is movable in a first plane about any axis and causes both tandem and reciprocal movement of said first and second control rod ends with respect to one another in response to movement of the lever.

Abstract: An X-Y controller (10) includes a first part (12) that is spherically guided by a second part (20). First and second shafts (26) of first and second transducers (24) are secured to the spherically guided first part (12). First and second levers (54) are mounted to first and second bodies (28) of the first and second transducers (24). The levers (54) each include a slot (58) which engages a respective one of first and second pins (60) that are inserted into the second part (20). In response to a first one of the mechanical inputs (X or Y), both of the shafts (26) of the transducers (24) are rotationally positioned proportional to the first mechanical input. In response to the second one of the mechanical inputs (Y or X), both of the potentiometers (24) are rotationally positioned about the other axis (Y or X); and the levers (54) and the pins (60) cooperate to rotationally position the bodies of both transducers (24 ) proportional to the second mechanical input (Y or X).

Abstract: A force sensor in the integral/monolithic comprises a monolithic block of elastic material which includes a first, second and third plate; a first pair of leaf spring integrally interconnecting the first and second plate, so that the first and second plates can parallely vibrate relative to each other in a first direction; a second pair of leaf springs integrally interconnecting the first and the third plates so that the first and the third plates can parallely vibrate relative to each other in a second direction being at right angles to the first direction; a shaft clearing traverses a bore in the first plate and is affixed to the second plate; the third plate is provided for connection for force receiving; and strain gauges are placed on all the leaf springs to sense separately forces acting in the first and second directions.

Abstract: A transmission operating device comprises a frame, a selecting operational member and a shifting operational member which are provided on a frame so as to extend in the fore-and-back direction of the frame, and are arranged substantially parallel to each other, a selecting shaft supported on the back side of the frame so as to rotate around a first axis crossing obliquely with a plane perpendicular to an axis extending in the fore-and-back direction, the selecting shaft having a connecting member, which is a part thereof and is located in a plane crossing with the vertical axis, and a change lever extending vertically and being connected with the selecting shaft so as to be rotatable around a second axis crossing with the first axis and extending in right and left direction of the frame. The selecting operational member has a free end connected with the connecting member and the shifting operational member has a free end rotatably connected with the above-mentioned change lever.

Abstract: A hand-held joystick has spaced-apart groups of accelerometers and is free to move or rotate on multiple axes. Each group has, for example, three mutually perpendicular accelerometers, with each one producing an electrical signal responsive to linear acceleration along one axis. The signals are combined to derive a definition of acceleration of the joystick along the three mutually perpendicular linear axes and/or rotation about these axes. The combined signal is used by an electrical control system which provides input to a device being controlled. The signal to the device under control is responsive to the motion of the joystick.

Abstract: The setting apparatus includes a housing having an operating grip mounted thereon for pivotal movement about a first axis between a neutral position and a second position for adjusting a signal changing device. An abutment member is mounted by the housing to pivot about an axis extending perpendicular to the first axis and has a face in abutting relationship to the face of a pressure face member. A rod and a spring are mounted by the operating grip for longitudinal movement and rotary movement relative to the grip to retain the pressure member face in abutting relationship to the abutment member face for selectively adjusting the neutral position of the operating grip upon rotation of the rod and resiliently urging the operating grip to its neutral position when the operating grip is moved out of its various selected adjusted neutral positions.

Abstract: A keyboard mounted, hand-operable input device for controlling the movement of a marker on a computer display is described and includes a tray which is elongated along a first axis, has right and left closed ends and is mounted for translational movement along its first axis. A hand-operable roller is rotatably mounted in the tray and is movable therewith. A rotary encoder is mounted on and movable with the tray and is maintained in engagement with the roller so that it provides signals indicative of the roller's rotary motion. A translational encoder is movable with the tray and provides signals indicative of translational movements of the tray. By directly coupling the roller to the rotary encoder and having both move with the tray, accurate rotary motion indications are thereby derived.

Abstract: In a human-in-the-loop robotic control loop, the constrained forces and moments at the gripper (also called hand or end effector) of the manipulator are measured by a force-mement sensor. The resulting force and moment signals are scaled and fed as input voltages to motors in a hand controller to provide torques which oppose deflection of the hand controller. Thus, the operator feels the opposing torques which are proportional to the magnitude of the constrained forces and moments. The force feedback loop may be opened to selectively provide a passive control loop. In either the active or passive mode, the hand controller position signals may be selectively mapped to either gripper position signals or gripper velocity signals in order to control movement of the gripper in the desired manner.

Abstract: A control system that undergoes lateral and rotational movement to selectively and accurately position an image on the screen of a video monitor. A movement detector is interfaced with a microprocessor to detect and interpret the movement of the control system. The control system comprises a shaft and a bar having a bar axis. The bar is rotatable around the shaft about the bar axis and slideable along the shaft in a direction parallel to the bar axis. Accordingly, movement of the bar with respect to the shaft causes a corresponding movement or positioning of the image on the screen.

Abstract: A joystick control device having a lower U-shaped bracket, an upper U-shaped bracket, a handle attached to the upper U-shaped bracket, with the upper U-shaped bracket connected to the lower U-shaped bracket by a compliant joint allowing six degrees of freedom for the joystick. The compliant joint consists of at least one cable segment affixed between the lower U-shaped bracket and the upper U-shaped bracket. At least one input device is located between the lower U-shaped bracket and the upper U-shaped bracket.

Abstract: A driving and steering mechanism for a vehicle having a pair of driving wheels includes a steering wheel rotatably mounted to the vehicle and an accelerator foot pedal pivotably mounted to the vehicle. Transmissions associated with the driving wheels include a pivotable control arm for controlling the operation of the transmission, which independently controls the speed and direction of rotation of the associated wheel. The vehicle is turned by causing one wheel to rotate faster than the other wheel. A zero turning radius turn can be effected by causing the driving wheels to rotate in opposite directions.The driving and steering mechanism includes a pair of floating links pivotably connected at one end to a respective transmission control arm. Steering links, associated with the steering wheel, are pivotably connected to a respective floating link distal the connection to the control link.