This chapter introduces to the concept of musical haptics, its scope, aims, challenges, as well as its relevance and impact for general haptics and humancomputer interaction. A brief summary of subsequent chapters is given. 1.1 Scope and Goals Musical haptics is an emerging interdisciplinary field investigating touch and proprioception in music scenarios from the perspectives of haptic engineering, humancomputer interaction (HCI), applied psychology, musical acoustics, aesthetics, and music performance. The goals of musical haptics research may be summarized as: (i) to understand the role of haptic interaction in music experience and instrumental performance, and (ii) to create new musical devices yielding meaningful haptic feedback. 1.2 Haptic Cues in Music Practice and Fruition Whenever an acoustic or electroacoustic musical instrument produces sound, that comes from its vibrating components (e.g., the reed and air column in a clarinet, or the strings and soundboard of a piano). While performing on such instruments, the haptic channel is involved in a complex action-perception loop: The player physically interacts with the instrument, on the one hand, to generate sound by injecting energy in