Abstract: To address the ergonomic deficiencies of existing foot controllers, this paper aims to improve the operating comfort and control precision for different operators during long-duration and high-load tasks. In terms of structural design, an innovative foot controller integrating yaw control, brake control, stepless adjustment of yaw operating force and multi-position adjustment of pedal length is proposed, and the design and calculation of its core mechanisms are elaborated in detail. A combination of finite element simulation and physical prototype testing is adopted to verify the feasibility of the design. The results show that the product features a reliable structural design, and all performance indicators meet the predetermined design requirements.