A device for assisting the piloting of a rotorcraft, the rotorcraft having a flight control (10) for controlling a rotor (20, 21) via at least one linkage (35. An additional force is generated by at least one piloting assistance means (100) mechanically linked to the linkage (35. The additional force is a function of the position of the flight control (10) and of an instantaneous force as measured on the linkage (35).
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