Since the pictures are missing from
Oscar's original post here's a new picture and a summary of the directions to remove the LS-30 handles.
1. Grab your "official" tool. If you don't have one make yourself a homemade tool out of a wire hanger.
2. Find the "nubs" underneath the yellow joystick handle
3. Slide the ends of your tool into the spaces just inside the nubs.
4. The tool's tines will press the top of the joystick handle up into the air.
5. Grab the exposed part of the handle top with your free hand, remove.
6. Loosen the newly exposed nut. This can be done with the other side of the "official" tool, a ratchet or a pair of needle nose pliers. (There may be years of goo in there seizing the nut. You might want to try WD-40 or another lubricant).
7. The yellow handle should now come off.
Don't try and remove the center part of the handle from the top, you'll only break it.