A pedal feel emulator mechanism for brake by wire pedal

A brake pedal emulator mechanism (12) includes a foamed plastic elastomeric piece (20) compressed by a brake pedal which piece has a variable spring rate and produces hysteresis when compressed to emulate the brake pedal feel of a conventional hydraulic brake system. The foamed plastic (20) may comprise microcellular urethane or a foamed silicone elastomer. Various combinations of the foamed plastic piece with mechanical springs, solid elastomeric pieces, or gas springs can be used to create a particular reaction force characteristic, as well as various shapes of the foamed plastic elastomeric piece itself.