A constant velocity joint comprising: a first yoke configured to be rotatably coupled to a drive shaft (112b, 202) about a first axis and configured to receive the drive shaft (112b, 202) through a first opening; a second yoke; a yoke coupler positioned inside respective further openings of the first and second yokes (210, 220) and rotatably coupling the second yoke to the first yoke about a second axis, the second yoke configured to be rotatably coupled to a hub (114, 204) about a third axis; and a control mechanism adapted to constrain the first yoke and the second yoke so as to achieve a substantially CV characteristic between the drive shaft and the hub (114, 204), wherein the control mechanism is positioned so as to allow the drive shaft (112b, 202) to pass through the first opening, wherein the control mechanism is configured to be coupled to the drive shaft (112b, 202) proximate the first opening, wherein the first axis and the second axis substantially intersect at an origin point (a); characterized in that the control mechanism comprises a first linkage and a second linkage, the first linkage being configured to be coupled to the drive shaft (112a, 202) at a first point (b) and extending to a second point (d), the second linkage coupling the first linkage at the second point (d) and being configured to be coupled to the hub (114, 204); and the first linkage comprises a positioning portion that moves yoke coupler along with first and second yokes (210, 220) as the first linkage moves, the first linkage being adapted to position the first and second yokes (210, 220) such that the second axis substantially resides on a bisector of the deflection angle between the drive shaft (112b, 202) and the hub (114, 204); the first linkage extending through the yoke coupler between first point (b) and second point (d). a first yoke configured to be rotatably coupled to a drive shaft (112b, 202) about a first axis and configured to receive the drive shaft (112b, 202) through a first opening; a second yoke; a yoke coupler positioned inside respective further openings of the first and second yokes (210, 220) and rotatably coupling the second yoke to the first yoke about a second axis, the second yoke configured to be rotatably coupled to a hub (114, 204) about a third axis; and a control mechanism adapted to constrain the first yoke and the second yoke so as to achieve a substantially CV characteristic between the drive shaft and the hub (114, 204), wherein the control mechanism is positioned so as to allow the drive shaft (112b, 202) to pass through the first opening, wherein the control mechanism is configured to be coupled to the drive shaft (112b, 202) proximate the first opening, wherein the first axis and the second axis substantially intersect at an origin point (a); characterized in that the control mechanism comprises a first linkage and a second linkage, the first linkage being configured to be coupled to the drive shaft (112a, 202) at a first point (b) and extending to a second point (d), the second linkage coupling the first linkage at the second point (d) and being configured to be coupled to the hub (114, 204); and the first linkage comprises a positioning portion that moves yoke coupler along with first and second yokes (210, 220) as the first linkage moves, the first linkage being adapted to position the first and second yokes (210, 220) such that the second axis substantially resides on a bisector of the deflection angle between the drive shaft (112b, 202) and the hub (114, 204); the first linkage extending through the yoke coupler between first point (b) and second point (d).