The present study was carried out to clarify characteristics of human motion and perception and to support the development of a force perception model for vehicle operation. This paper describes initial experimental analysis of human force perception characteristics relating to steering operation, which involves multiple joint motions and large postural changes of the arms. The results highlighted three points in particular: (1) force perception follows the Weber-Fechner law when arm posture is constant; (2) force perception depends on the steering wheel angle and is affected by the weight and stiffness of the arms; and (3) force perception does not depend on the preceding state of the arms before perception.