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Coming generations of robots will share physical space with humans, engaging in contact interactions (physical Human Robot Interaction, or pHRI) as they carry out cooperative tasks. This special issue turns a spotlight on the specific roles that crafted haptic interaction can play in cooperation and communication between a human and a robotic partner, from the viewpoints of human needs, capabilities, and expectations and of engineering implementation.doi:10.5898/jhri.4.1.maclean fatcat:yiycbuggs5c4tomf4tdqwfgkwu