Eighteen manual wheelchair users (MWUs) with spinal cord injury participated in a training session on a new manual wheelchair simulator with haptic biofeedback (HB). The training aimed to modify participants' mechanical effective force (MEF) along the push phase to achieve a target MEF pattern slightly more effective than their pre-training pattern. More HB was provided if the participants' achieved MEF pattern deviated from the target. Otherwise, less HB was provided. The deviation between the participants' achieved MEF and the target, as well as the mean achieved MEF, were computed before, during and after the training session. During the training, participants generally exceeded the target pattern at the beginning of the push cycle and achieved it towards the end. On average, participants also increased their mean MEF by up to 15.7% on the right side and 12.4% on the left side between the pre-training and training periods. Finally, eight participants could modify their MEF pattern towards the target in post-training. The simulator tested in this study represents a valuable tool for developing new wheelchair propulsion training programs. Haptic biofeedback also provides interesting potential for training MWUs to improve propulsion effectiveness.