A rotor controlled continuously variable transmission (RCCVT) which includes: an input shaft which is mounted for rotation about a longitudinal axis, a rotor which is attached to the input shaft, which is rotatable together with the input shaft and which is axially movable relative to the input shaft, the rotor including a high ratio end with a minimum radius, from the longitudinal axis, of Rmin_h, a geared neutral end with a minimum radius, from the longitudinal axis, of Rmin_gn, an outer surface between the high ratio end and the geared neutral end, and a minimum radius R from the longitudinal axis to the outer surface between the high ratio end and the geared neutral end, a first rotor follower unit with at least one rotor follower bearing with a first contact surface which is in line contact with said outer surface, a second rotor follower unit with at least one rotor follower bearing with a second contact surface which is in line contact with said outer surface, an output transmission, a first rocker arm unit and a second rocker arm unit for respectively transmitting rotational drive from the rotor follower units (16A, 16B) to the output transmission, wherein (i) the minimum radius R increases linearly from Rmin_h to Rmin_gn over the length of the rotor from the high ratio end to the geared neutral end whereby forces caused by the first and second rotor follower units (16A, 16B) on the rotor have a resultant component (Fa) on the rotor, in the direction of the longitudinal axis, which is always in the axial direction from the high ratio end to the geared neutral end, and (ii) said first contact surface and said second contact surface respectively remain in line contact with said outer surface of the rotor, characterized by a first torsion bar with a first end (200A1) and a second end (200A2) and a second end (200A2), a second torsion bar with a first end (200B1) and a second end (200B2), wherein the first end (200A1) of the first torsion bar is connected to the first rocker arm unit, the first end (200B1) of the second torsion bar is connected to the second rocker arm unit, a pushrod unit connected to the second end (200A2) of the first torsion bar and to the second end (200B2) of the second torsion bar, and an actuation unit which, in response to the axial position of the rotor, causes actuation of the pushrod unit to match the required torque on the rocker arm units (14A, 14B) with the torques produced by the torsion bars (200A, 200B). an input shaft which is mounted for rotation about a longitudinal axis, a rotor which is attached to the input shaft, which is rotatable together with the input shaft and which is axially movable relative to the input shaft, the rotor including a high ratio end with a minimum radius, from the longitudinal axis, of Rmin_h, a geared neutral end with a minimum radius, from the longitudinal axis, of Rmin_gn, an outer surface between the high ratio end and the geared neutral end, and a minimum radius R from the longitudinal axis to the outer surface between the high ratio end and the geared neutral end, a first rotor follower unit with at least one rotor follower bearing with a first contact surface which is in line contact with said outer surface, a second rotor follower unit with at least one rotor follower bearing with a second contact surface which is in line contact with said outer surface, an output transmission, a first rocker arm unit and a second rocker arm unit for respectively transmitting rotational drive from the rotor follower units (16A, 16B) to the output transmission, (i) the minimum radius R increases linearly from Rmin_h to Rmin_gn over the length of the rotor from the high ratio end to the geared neutral end whereby forces caused by the first and second rotor follower units (16A, 16B) on the rotor have a resultant component (Fa) on the rotor, in the direction of the longitudinal axis, which is always in the axial direction from the high ratio end to the geared neutral end, and (ii) said first contact surface and said second contact surface respectively remain in line contact with said outer surface of the rotor,