The ability to match the voluntary isometric force output of the right and left index fingers when the contact surfaces differ in shape was examined. Before the experiment, subjects were trained to produce both a "low" force level (50 +/- 25 g) and a "high" force level (200 +/- 50 g) with the right and left index finger, separately. Following the training session, subjects were instructed to match the forces of both fingers simultaneously within the required range (either low or high) so that the forces were perceived to be identical. One of the index fingers pushed against a conical contact pad, while the other pushed against a flat contact pad. Midway through the experiment, the two contact pads were reversed. Subjects consistently produced less force with the finger pressing against the conical pad. This asymmetry could already be seen during the beginning of the ramp increase in force and continued throughout the trial, independent of the target force levels (low or high). These findings suggest tactile afferent information at the finger-tip is important for determining the voluntary force exerted by the finger. It must be properly integrated with other peripheral information as well as with the central motor command, otherwise the perception of force is distorted. Furthermore, the perception of the force produced seemingly is dependent on the extent to which the skin of the fingertip is indented rather than the local pressure exerted at the skin.