Helmsmen on older ships used a tiller (a horizontal bar fitted directly to the top of the rudder post) or a whipstaff (a vertical stick acting on a tiller).
Early ships' wheels (c. 1700) were operated to correspond to the motion of The design of ships' wheels probably influenced that of the modern steering wheel.

A traditional ship's wheel is composed of eight cylindrical
wooden spokes (though sometimes as few as six or as many as ten) shaped like balustersand all joined at a central wooden hub or
nave (sometimes covered with a brass
nave plate) which housed the axle. The square hole at the centre of the hub through which the axle ran is called a
drive square and was often lined with a brass plate (and therefore called a
brass boss, though this term was used more often to refer to a brass hub and nave plate) which was frequently etched with the name of the
wheel's manufacturer. The outer rim is composed of four sections each made up of stacks of three
felloes, the
facing felloe, the
middle felloe, and the
after felloe. Because each group of three felloes at one time made up a quarter of the distance around the rim, the entire outer wooden wheel was sometimes called the
quadrant. Each spoke ran through the middle felloe creating a series of handles on the outside of the wheel's rim. One of these handles/ spokes was frequently given extra grooves at its tip which could be felt by a helmsman steering in the dark and used by him to determine the exact position of the rudder—this was the
king spoke and when it pointed straight upward the rudder was dead straight. The wood used in construction of this type of wheel was most often eitherteak or mahogany.

The steering gear of earlier ships sometimes consisted of a double wheel where each wheel was connected to the other with a wooden
spindle that ran through a
barrel or
drum. The spindle was held up by two
pedestals that rested on a wooden
platform, often no more than a grate. A
tiller rope or
chain (sometimes called a
steering rope or
chain) ran around the barrel in five or six loops and then down through two
tiller rope slots at the top of the platform before connecting to two sheaves just below deck (one on either side of the ship's wheel) and thence out to a pair of pulleys before coming back together at the tiller and therefore the ships rudder. Movement of the wheels (which were connected and moved simultaneously) caused the tiller rope to wind in one of two directions and shifted the tiller left or right. In a typical and intuitive arrangement, a helmsman turning the wheel counterclockwise would cause the tiller to move to starboard and therefore the rudder to swing to port causing the vessel to also turn to port.
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