Motorcycle Safety & Driveability: counter steering, countersteering, ural 750

Question
Sorry about asking about this well-aired subject again, but I have just returned to motorcycling after a gap of some 30 yrs! - I now have an Ural 750 flat twin which is not that much different from my old Bonnieville in terms of power.  I understand what I have read about the principles of counter steering, and I can see how it works, but when I learnt to ride years ago we simply threw the bikes round the corners (or that's how it seemed). I always believed that front wheel was in a straight line with the frame round bends, although canted over, of course, and had no sensation of this 'involuntary' countersteering that people go on about.  If you countersteer round a fast bend does your bike stay more upright than if you simply leaned over further?  I have on occasion, especially on right hand bends (in UK)tended to drift into the kerb, and have corrected this by easing off the throttle and/or leaning the bike over even further into bend, but it's always a bit nerve racking.  So the question(s) is, if I consciously counter steer, can I go round with less lean-over? Is the arc of the turn made tighter by countersteering than is possible by simply leaning over more (unless you compensate by hangin out)? Have I being doing it wrong all those years?
Thanks for your help.
Mike

Answer
The thing with countersteering is that you always do it, whether you realize it or not. Even long ago when you thought you were "throwing it" into the turn, you were also countersteering.

At any speed over about 3 mph, countersteering always leans the bike opposite the direction of the steer. It doesn't matter which way you're leaning, what you're doing with your body, or how fast you're going.

Here's what is missing from the common knowledge of countersteering, and I hope it helps: countersteering does NOT turn the bike, it only LEANS the bike. A bike must be leaned to be turned. Countersteering is a way to lean the bike quickly and precisely. Once the bike is leaned into the turn, the front wheel points into the turn, just like you think it's supposed to.

For example: you're approaching a 90 degree right hand bend at 30 mph. You set your entry speed, press the right handgrip forward, the front tire initially points left, which leans the bike over to the right, then once the bike is leaned to the right, the tire sort of "falls" into the turn. At that point the tire is not parallel with the frame, it's pointed more into the turn, to the right.

So you're leaned over with the front tire pointed into the turn, and lets say you want to turn tighter. You countersteer again, more pressure on the right handgrip, the front tire deflects slightly to the left, the bike leans more right, then, the front tire falls into the turn again and it's pointing right again. Or, if you wanted to widen your line, you press forward on the left handgrip, which deflects the tire slightly to the right, which stands the bike up.

Sorry if this is confusing. It's early on a Monday!

Pat