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Steering reaction torque is one important piece of information for drivers since it has significant influence on the maneuverability of the vehicle. Even with today's advanced simulation technology, however, it is very difficult to simulate factors such as accurate steering feeling. The purpose of this study is to develop a steering Hardware-in-the-Loop (HIL) simulator that can quantitatively evaluate steering systems. The validity of this HIL simulator has been ascertained by comparing the simulation results with those obtained during actual vehicle testing. A qualitative evaluation of the influences to reflect results on the design of the system performance is also reported. [ABSTRACT FROM AUTHOR]