We develop the principles and tools to create robotics and human-machine systems, especially systems that are capable of haptic (touch) interaction, to improve daily life for individuals in the real world. Our work includes the design and control of novel sensors and actuators, and the use of neuroscience, psychology, and other methodology to improve our understanding of human haptic perception and human-robot interaction. While we target many different applications, we are particularly interested in applications in the medical and healthcare field, including mental health, rehabilitation, prosthetics, and medical or surgical training to improve clinical, at-home, and telehealth care.