Brake pedal force simulator for vehicle braking system

The present invention relates to a brake pedal force simulator for a vehicle braking system comprising a brake pedal (2) pivotably supported by a fulcrum pin (3) on a pedal support (4), an electrical actuator (5) operatively coupled to said brake pedal (2) to selectively exert a force on said brake pedal (2), a position sensor (6) for generating a position signal indicative of the actual position of said brake pedal (2), an electronic control unit (7) having programmed therein a relationship between said position signal and a desired brake pedal force and controlling said electrical actuator (5) to selectively exert said desired brake pedal force on said brake pedal (2), wherein the electrical actuator (5) is coupled to the fulcrum pin (3) of the brake pedal (2).