Avid cyclist, but I have no idea what this is talking about: "...the phenomenon of 'countersteering', whereby the rider can steer to the left only by first briefly torquing the handlebars to the right, allowing the bike to fall into a leftward lean." Am I just doing this subconsciously?
You don't have to countersteer to turn on a bike. When you are riding straight you are using a combination of balance and handlebar position to adjust the angle of the bike so it is directly between you and the ground. If you fail to do this you fall over. So to turn without countersteer just stop doing anything and start to fall over. When you reach your desired angle of bank then turn the handlebars in the directio…
Countersteer is the only way to turn a bicycle at speed. If you lean, you are simply inducing the bike to countersteer for you. The fact that you are not conscious of this act does not change the fact that it is happening regardless of your awareness.
More to the point, you cannot turn a bicycle at speed to the right by turning the handlebars to the right. The bicycle will go left, independent of your intentions.