Introduction.- Part I: Psychophysical and Behavioral Basis.- Active Movement Reduces the Tactile Discrimination Performance.- Weight Perception with Real and Virtual Weights using Unimanual and Bimanual Precision Grip.- The Image of Touch: Construction of Meaning and Task Performance in Virtual Environments.- Psychological Experiments in Haptic Collaboration Research.- Human-Robot Adaptive Control of Object-oriented Action.- Cooperative Physical Human-Human and Human-Robot Interaction.- Part II: Technology and Rendering.- Data-Driven Visuo-Haptic Rendering of Deformable Bodies.- Haptic Rendering Methods for Multiple Contact Points.- Artificially Rendered Cutaneous Cues for a New Generation of Haptic Displays.- Social Haptic Interaction with Virtual Characters.- FMRI Compatible Sensing Glove for Hand Gesture Monitoring.- Improving Human-Computer Cooperation through Haptic Role Exchange and Negotiation.- Index.