Human culture is replete with artifacts that interact with the senses of sight, hearing, taste, and smell. Material objects whose purpose is to produce a thoughtful or emotional response through the sense of touch, however, are rare. In this talk, I present my group’s recent work on the intersection between the science of soft materials and the science of touch. This field, which we have named “organic haptics,” combines active polymers, contact mechanics, and psychophysics. We are beginning to understand the ways in which stick slip friction, adhesion, and capillary forces between planar surfaces and human skin affect the ways materials produce tactile objects in consciousness as mediated by the sense of touch. This work, which combines human subject experiments, laboratory mockups of human skin, and analytical models accounting for friction, has led to several important observations. In particular, we have elucidated the mechanism by which humans can differentiate hydrophilic from hydrophobic surfaces when bulk parameters such as hardness, roughness, and thermal conductivity are held constant. We examined the role of relief structures in the skin—i.e., fingerprints—in determining the human ability to differentiate between surfaces. We have taken the insights from these psychophysical experiments to design new electroactive and ionically conductive materials to produce “actuator skins” whose goal is to produce realistic sensations for applications in tactile therapy, instrumented prostheses, education and training, and virtual and augmented reality.