A shifting tool for use in shifting axial position of a shiftable element in a well. The tool comprises a linkage mechanism configured to translate an independent axial force into a dedicated radial force applied to expansive elements thereof. Thus, the elements may radially expand into engagement with the shiftable element free of any substantial axial force imparted thereon. As such, a more discretely controllable shifting actuation may be attained, for example, as directed from an oilfield surface. Indeed, real-time intelligent feedback may also be made available through use of such elements in conjunction with the noted linkage mechanism.