Patent ID: 6983816

Claim:
A steering apparatus for a vehicle having a steering wheel, the apparatus comprising: a steering mechanism that is mechanically separate from the steering wheel, wherein the steering mechanism includes a steering rod and a steering actuator, wherein the steering actuator drives the steering rod; a steering wheel position detector for detecting a steering position of the steering wheel; a control system that determines a target steered position of the steering rod based on the detected steering position of the steering wheel, wherein the control system performs feedback control of the steering actuator based on the target steered position and an actual steered position of the steering rod; a reaction force actuator, wherein the reaction force actuator applies reaction force to the steering wheel based on force that the steering mechanism receives from a road; and an elastic member that couples the reaction force actuator to the steering wheel, wherein the elastic member is located between the steering wheel and the reaction force actuator, and wherein, with respect to the elastic member, a side closer to the steering wheel is referred to as a primary side, and a side closer to the reaction force actuator is referred to as a secondary side, wherein the steering wheel position detector is located at the secondary side.