Ratings of perceived exertion (RPE) are frequently used to monitor and prescribe exercise intensity. However, studies examining the shape and robustness of how feelings of effort map onto objective outputs are limited and report inconsistent results. To address this, we investigated whether (1) producing isometric forces according to RPE levels reliably leads to differences in force output, (2) if feelings of effort map linearly or non-linearly onto force output, and (3) if this mapping is robust when visual feedback and social facilitation are present. In a counterbalanced repeated measures design, N = 26 participants performed isometric handgrip contractions prescribed by ten levels of the Borg CR-10 scale. They did so either with or without the availability of concurrent visual feedback regarding their force production, and in the presence or absence of another person performing the same task simultaneously. We found that subjects reliably produced different force outputs that corresponded to each RPE level. Furthermore, concurrent visual feedback led to a linearization of force output, while in the absence of feedback, the produced forces could also be described by quadratic and cubic functions. Exploratory post-hoc analyses revealed that participants perceived moderate RPE levels to be more challenging to produce. By shedding light on the dynamic nature of the mapping between RPE and objective performance, our findings provide helpful insights regarding the utility of RPE scales