A vehicle system including one or more sensors, a steering wheel including a rim and an adjusting mechanism for adjusting a coefficient of friction between a surface of the rim and a driver's hand, and a controller configured to determine whether a deviation factor between a target path and an actual path based on the one or more sensors exceeds a threshold deviation, send a first signal to the adjusting mechanism for operating to a first state in response to determining that the deviation factor exceeds the threshold deviation, the coefficient of friction being decreased when the adjusting mechanism is in the first state, and send a second signal to the adjusting mechanism for operating to a second state in response to determining that the deviation factor does not exceed the threshold deviation, the coefficient of friction being increased when the adjusting mechanism is in the second state.