Haptic perception depends on four types of cutaneous mechanoreceptors. Combined psychophysical and neurophysiological research supports the idea that each of the four mechanoreceptive afferent systems innervating the hand serves a distinctly different perceptual function and that haptic perception can be understood as the sum of these functions. The evidence reviewed in this chapter supports the following synthesis: (1) SA1 mechanoreceptive afferent, which innervate the skin densely and are selectively responsive to points, edges and curvature, are responsible for form and texture perception. (2) RA mechanoreceptive afferents, which also innervate the skin densely, are responsible for motion detection. Their most important function is the provision of feedback signals about slip between the skin and an object held in the hand, which is critical for grip control. (3) Pacinian afferents, which are extremely sensitive, are responsible for the perception of distant events through vibrations transmitted to the hand through tools, objects, and probes held in the hand. (4) SA2 mechanoreceptors provide information about skin stretch. Perhaps their most important function is the provision of a neural image of skin stretch that signals the shape of the hand and fingers.