this book constitutes the refereed proceedings of the 6th international conference on human haptic sensing and touch enabled computer applications, eurohaptics 2008, held in madrid, spain, in june 2008. the 119 revised full papers presented were carefully reviewed and selected from 150 submissions. the papers are organized in topical sections on control and technology, haptic perception and psychophysics, haptic devices, haptics rendering and display, multimodal interaction and telepresence, as well as haptic applications.