Steering cylinders (21 and 22) in a wheel loader (1) are driven by hydraulic pressure and perform an articulation in which the steering angle θs of a front frame (11) is changed with respect to a rear frame (12) in response to the operation of a joystick lever (24). A pilot valve (42) is linked to the joystick lever (24) and controls the flow of fluid supplied to the steering cylinders (21 and 22) so that the steering angle θs matches the rotation angle θin. A force imparting component (27) imparts an assisting force or a counterforce to the operation of the joystick lever (24). A controller (28) controls the force imparting component (27) so as to generate resistance against the operation of the joystick lever on the basis of a deviation angle ±θ7, which is an example of the start timing of the articulation.