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We had developed Electric Servo Brake System, which can control brake pressure accurately with a DC motor according to brake pedal force. Therefore, the system attains quality brake feeling while reflecting intentions of a driver. By the way, “Build-up” is characteristics that brake effectiveness increases in accordance with the deceleration of the vehicle, which is recognized as brake feeling with a sense of relief as not to elongate an expected braking distance at a downhill road due to large-capacity brake pad such as sports car and large vehicles. Then, we have applied the optical characteristic control to every car with Electric Servo Brake System by means of brake pressure control but not brake pad. Hereby, we confirmed that the control gives a driver the sense of relief and the reduction of pedal load on the further stepping-on of the pedal. In this paper, we describe the development of brake feel based on the control overview.