One embodiment is a handle supporting a users hand having a large surface for the palm, a trough for the thumb, a protrusion between the thumb and first finger and flared edges to keep the hand from sliding. A support surface is coupled to the stem of a wheelchair joystick gimbal and is biased in forward driving. A second embodiment is a wheelchair joystick movable between forward and reverse positions while maintaining the same orientation relative to the user. A supporting surface is pivotally mounted to a gimbal stem fixed to the wheelchair. The handle pivots to remain in a neutral position with movement of the joystick. A bi-directional spring biases the handle toward a neutral position. A third embodiment comprises a pivot coupled to a gimbal stem and a cup coupled to the user. The assembly is completed by placing the cup over the pivot allowing for movement therebetween.