In this study we evaluated the capacity of human beings to perceive and reproduce forces applied to the hand. We tested for perceptive distortions and/or privileged directions in the performance of these two tasks. Subjects resisted a reference force applied by a joystick in a given direction, with instructions to keep the hand at a constant position. In a perception task, subjects subsequently resisted a second such force, the direction of which they could adjust with a potentiometer; the task was to reorient the second force to be in the same perceived direction as the reference. In a reproduction task, subjects were instructed to push against the now elastically constrained joystick with the same force that was required to resist the initially applied reference force. Twenty-four reference force directions in the horizontal plane were tested twice each. We observed systematic distortions in the reproduction of force direction that were not present in the perception task. We further observed that the distortions could be predicted by anisotropy of limb stiffness and could be affected by manipulating the mechanical impedance of the hand-joystick interaction. We conclude that human subjects specify and store forces to be applied by the hand not in terms of a perceived force vector, but rather in terms of the motor activity required to resist or produce the force - i.e. subjects possess a multi-dimensional "sense of effort".