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Abstract: Vehicle drivers receive tactile feedback from steering-wheel vibration that depends on the frequency and magnitude of the vibration. From an experiment with 12 subjects, equivalent comfort contours were determined for vertical vibration of the hands at two positions with three grip forces. The perceived intensity of the vibration was determined using the method of magnitude estimation over a range of frequencies (4–250Hz) and magnitudes (0.1–1.58ms−2 r.m.s.). Absolute thresholds for vibration perception were also determined for the two hand positions over the same frequency range. The shapes of the comfort contours were strongly dependent on vibration magnitude and also influenced by grip force, indicating that the appropriate frequency weighting depends on vibration magnitude and grip force. There was only a small effect of hand position. The findings are explained by characteristics of the Pacinian and non-Pacinian tactile channels in the glabrous skin of the hand. [Copyright &y& Elsevier]