When we interact with an object, neural signals from the skin, joints, and muscles convey information about the shape, size, weight, and texture of the object. If the object is moving across the hand, information about its direction and speed is also available. In this chapter, we discuss the sensory signals the hands send the brain about our interactions with objects and review what is known about how different areas of the brain interpret these signals. Focusing on the senses of touch and proprioception, we examine how different sensory features are encoded in spatiotemporal patterns of neuronal activation and discuss the perceptual, motor, and affective roles these signals play in everyday life.