What does the word 'yoke' mean in the scripture 'My yoke is easy'?

Human society during Bible times was primarily an agricultural one, so many illustrations concerned farming practices, which the majority of people would understand. A literal 'Yoke' was (and is) a long wooden bar, with one or two curved areas which would fit over the necks of oxen (or some other beast of burden, or even people), to help them move heavy loads(1 Samuel 6:7)
The 'yoke' was also used figuratively, to symbolize control or domination (1 Kings 12:4, Deuteronomy 28:48, Acts 15:10).
In this particular scripture(Matthew 11:29+30), Jesus is indicating that Christian discipleship is like a yoke (Philippians 4:3)with a responsibility to follow Christ's teachings and actions, living the way he lived, and performing the work he performed (1 Corinthians 11:1 /1 Peter 2:21). Jesus' yoke is 'easy' or 'kindly', because he is not oppressive or harsh, (Deuteronomy 30:11; 1 John 5:3). and if we feel our load is becoming to heavy, and is perhaps chafing us and causing pain, we can ask him for help to carry on (Philippians 4:19). The work he gave his followers to do is the same work he did(John 4:34; 15:8), and he promises to help us with it (Matthew 28:19, 20; Acts 1:8), not taking the labor away, but by providing our fellow worshipers(the Christian congregation(Matthew 18:20)(Hebrews 10:24-25), and by getting under the yoke with us to help us complete the job he's given us to do (Matthew 24:14) (1 Timothy 4:16)(Matthew 28:20).