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The adoption of Electrical Power Steering systems (EPS) has expanded the possibilities to control the steering torque, which is a critical parameter in the subjective and objective evaluation of a new vehicle. Therefore, the tuning of the EPS controller is becoming crucial in defining the DNA of the steering feeling characteristics. Our EPSiL is a test bench for steering feeling simulation and evaluation, which combines a driving simulator with a physical EPS assisted steering rack to accurately reproduce the tactile feedback to the driver.