We invite you to submit full papers (4-6 pages) describing new and ongoing work or proposing future research directions in the fields of robotics, haptics, affective interaction, social robotics, and psychology, using the standard template and following the authors guidelines for ICRA papers. Papers should be submitted through EasyChair by April 11h, 2014. Contributions will be reviewed for quality and relevance to the workshop's theme. Submission of preliminary results would also be considered. Authors of accepted papers will present their work at the workshop and will be invited to submit an extended version of the paper to a special issue on "Affective Haptics for Human-Robot Interaction" in the Springer Journal on Multimodal User Interfaces (Impact Factor: 0.833) Submitting a contribution is not a prerequisite to participation in the workshop and the discussion sessions.