Haptic feedback from the steering wheel is one of the most important cues for driver to vehicle interaction. The right feedback is provided by ensuring that the haptic controller provides the required steering feel. Steering feel assessment and design is divided into a subjective and objective approach. The subjective approach entails experiments on the proving ground during which steering parameters can be tuned by steering experts. However, using only subjective assessment is time-consuming, costly and non-repetitive. Since there is no direct method to tune the steering feel objectively, a driver model is required to find a mathematical justification in the mechanical interaction between driver and vehicle during steering. A 3-dimensional multibody arm model is constructed to investigate the influence of driving posture on the nonlinear steering response. It was found that the torque acting in the shoulder joint is higher than in the elbow. The relation between joint torque and joint angles is linear in the shoulder, whereas nonlinearities were found in the elbow joint. Nevertheless, a change of driving posture (i.e. a change of haptic interface) leads to a different steering response. Findings from the driver model were validated by two steering experiments. Muscle contraction was measured in order to analyse the forces acting on the joints. This study shows promise to lead to a different approach for tuning steering parameters. Further investigation and detailed experiments are required to convert this driver model into a method to tune steering feel objectively.