There has been significant advancement in haptic methods and technologies but the inclusion of haptics into virtual surroundings is still in its initiation stage. If we could learn to capture, maneuver and propagate haptic sensory stimulus that is nearly identical to reality, then it would lead to indefinite changes in a wide range of modern society's human activities and interests including communication, education, art, entertainment, commerce and science. For further progress of this field, there is a need to overcome several commercial and technological barriers. Due to continuous advancement in haptic technology and the increasing areas of research and development of haptics-related algorithms, protocols and devices, there is a belief that haptics technology has a promising and bright future. This book attempts to give a comprehensive account of haptic technology and applications.