Just out of interest, have you ever grabbed Kanetsuka Sensei? In my opinion he and Ikeda Sensei are doing basically the same thing (though Ikeda does actually explain what he is doing in ways that most of us can understand...).
Well, I did practice with Kanetsuka sensei. He used be known for his hard, even rough style of Aikido. It changed after his illness - the form of the technique did not change dramatically, it still looked like Yoshinkan Aikido, but his techniques felt different. I have never experienced Ikeda's Aikido - for me it felt more like Tamura sensei's Aikido.