A yoke, alternatively known as a control wheel or a control column, is a device used for piloting some fixed-wing aircraft. 
The pilot uses the yoke to control the attitude of the plane, usually in both pitch and roll. Rotating the control wheel controls the ailerons and the roll axis. Fore and aft movement of the control column controls the elevator and the pitch axis.  When the yoke is pulled back, the nose of the aircraft rises. When the yoke is pushed forward, the nose is lowered. When the yoke is turned left, the plane rolls to the left, and when it is turned to the right, the plane rolls to the right.
Small to medium-size aircraft, usually limited to propeller-driven, feature a mechanical system whereby the yoke is connected directly to the control surfaces with cables and rods. Human muscle power alone is not enough for larger and more powerful aircraft, so hydraulic systems are used, in which yoke movements control hydraulic valves and actuators. In more modern aircraft, inputs may first be sent to a fly-by-wire system, which then sends a corresponding signal to actuators attached to the control surfaces. Yokes may feature a stick shaker, which is designed to help indicate the onset of stall, or even a stick pusher, which physically pushes the yoke to prevent a stall.
Yokes come in a variety of shapes and sizes, the most common being of a "U" or "W" design. Some aircraft use a "ram's horn" style yoke, shaped like an "M", such as Embraer aircraft and the Concorde. There are some rarer exotic or archaic styles, such as circular or semi-circular designs, much like a steering wheel.
In larger aircraft they are usually mounted on a post protruding vertically from the floor, referred to as a control column. In most other planes, they are mounted on a horizontal tube that comes out of the instrument panel.
In the case of the Cirrus SR20 and Cirrus SR22, although the control looks like a side stick, it works like a yoke handle (referred to in the industry as a "side yoke").    The Cessna 162 uses a similar device.  
Side-sticks and centre-sticks are better for making rapid control inputs and dealing with high g-forces, hence their use in military, sport, and aerobatic aircraft. However, yokes are less sensitive (i.e., more precise) due to a larger range of motion and provide more visual feedback to the pilot. 
Most yokes are connected and will both move together, thus providing instant indication to the other pilot when one makes a control input. This is in contrast to some fly-by-wire control sticks that allow each pilot to send different, and sometimes greatly conflicting, inputs. Competing inputs are signaled on Airbus craft.
Yokes take up more room than side-sticks in the cockpit and may even obscure some instruments; by comparison, side-sticks have minimal cockpit intrusion, allowing the inclusion of retractable tray-tables and making it easier to enter/leave small cockpits.  
A yoke, unlike a side-stick, may be used comfortably with either hand. This can be useful if one needs to write or manipulate other controls in the cockpit. This advantage is shared with the center-stick. 
The yoke often incorporates other key functions such as housing thumb or finger buttons to enable the radio microphone, disengage the autopilot, and trim the aircraft. In addition, there may be a clipboard, checklist, or chronometer located in the yoke's center.    
Yokes are not used on all aircraft. Helicopters use a cyclic  and the majority of military fighter aircraft use a center or side-stick. Some light aircraft use a stick due to pilot preference. The latest Airbus family of passenger jets use a side-stick, similar to a joystick, to actuate control surfaces.  
There are also computer input devices designed to simulate a yoke, intended for flight simulators.
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Fly-by-wire (FBW) is a system that replaces the conventional manual flight controls of an aircraft with an electronic interface. The movements of flight controls are converted to electronic signals transmitted by wires, and flight control computers determine how to move the actuators at each control surface to provide the ordered response. It can use mechanical flight control backup systems or use fully fly-by-wire controls.
A fixed-wing aircraft is a heavier-than-air flying machine, such as an airplane, which is capable of flight using wings that generate lift caused by the aircraft's forward airspeed and the shape of the wings. Fixed-wing aircraft are distinct from rotary-wing aircraft, and ornithopters. The wings of a fixed-wing aircraft are not necessarily rigid; kites, hang gliders, variable-sweep wing aircraft and airplanes that use wing morphing are all examples of fixed-wing aircraft.
A cockpit or flight deck is the area, usually near the front of an aircraft or spacecraft, from which a pilot controls the aircraft.
A stick shaker is a mechanical device designed to rapidly and noisily vibrate the control yoke of an aircraft, warning the flight crew that an imminent aerodynamic stall has been detected. It is typically present on the majority of large civil jet aircraft, as well as most large military planes.
An autopilot is a system used to control the path of an aircraft, marine craft or spacecraft without requiring constant manual control by a human operator. Autopilots do not replace human operators. Instead, the autopilot assists the operator's control of the vehicle, allowing the operator to focus on broader aspects of operations.
A glass cockpit is an aircraft cockpit that features electronic (digital) flight instrument displays, typically large LCD screens, rather than the traditional style of analog dials and gauges. While a traditional cockpit relies on numerous mechanical gauges to display information, a glass cockpit uses several multi-function displays driven by flight management systems, that can be adjusted to display flight information as needed. This simplifies aircraft operation and navigation and allows pilots to focus only on the most pertinent information. They are also popular with airline companies as they usually eliminate the need for a flight engineer, saving costs. In recent years the technology has also become widely available in small aircraft.
A conventional fixed-wing aircraft flight control system consists of flight control surfaces, the respective cockpit controls, connecting linkages, and the necessary operating mechanisms to control an aircraft's direction in flight. Aircraft engine controls are also considered as flight controls as they change speed.
A stabilator, more frequently all-moving tail or all-flying tail, is a fully movable aircraft stabilizer. It serves the usual functions of longitudinal stability, control and stick force requirements otherwise performed by the separate parts of a conventional horizontal stabilizer and elevator. Apart from a higher efficiency at high Mach number, it is a useful device for changing the aircraft balance within wide limits, and for mastering the stick forces.
The Cirrus SR20 is an American piston-engined, four- or five-seat composite monoplane built since 1999 by Cirrus Aircraft of Duluth, Minnesota. The aircraft is the company's earliest type-certified model, earning certification in 1998.
The Cirrus SR22 is a single-engine four- or five-seat composite aircraft built from 2001 by Cirrus Aircraft of Duluth, Minnesota.
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A side-stick or sidestick controller is an aircraft control column that is located on the side console of the pilot, usually on the righthand side, or outboard on a two-seat flightdeck. Typically this is found in aircraft that are equipped with fly-by-wire control systems.
Flight envelope protection is a human machine interface extension of an aircraft's control system that prevents the pilot of an aircraft from making control commands that would force the aircraft to exceed its structural and aerodynamic operating limits. It is used in some form in all modern commercial fly-by-wire aircraft. The professed advantage of flight envelope protection systems is that they restrict a pilot's excessive control inputs, whether in surprise reaction to emergencies or otherwise, from translating into excessive flight control surface movements. Notionally, this allows pilots to react quickly to an emergency while blunting the effect of an excessive control input resulting from "startle," by electronically limiting excessive control surface movements that could over-stress the airframe and endanger the safety of the aircraft.
A flight control mode or flight control law is a computer software algorithm that transforms the movement of the yoke or joystick, made by an aircraft pilot, into movements of the aircraft control surfaces. The control surface movements depend on which of several modes the flight computer is in. In aircraft in which the flight control system is fly-by-wire, the movements the pilot makes to the yoke or joystick in the cockpit, to control the flight, are converted to electronic signals, which are transmitted to the flight control computers that determine how to move each control surface to provide the aircraft movement the pilot ordered.
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... sidesticks don't provide visual feedback and actually don't move much at all as they respond to the pressure applied by the human pilot ... in the G650 when you grab the yoke and move it, the one on the other side will respond just as it does on a conventional airplane.