Providing a sense of touch, in addition to video and audio, improves the quality of experience of an user during remote operations or in virtual reality applications. Haptics is the area under which generation, manipulation and perception of such sensory data are studied. Haptic data is known to be very sensitive to delay that limits its practical application in tele-robotics. Tele-haptic applications demand that one must cut down the rate at which haptic data is generated. In the first part of the talk, we first provide a quick introduction to the topic of haptics and explore how one may utilize the perceptual limitations of an individual to build adaptive sampling strategies for data reduction. However, in any (tele) haptic interface, the primary requirement is stability, i.e., transfer function from the human force input to device displacement(s) should be BIBO stable. This stability property is degraded by low sampling frequencies and high virtual wall stiffnesses to be rendered. However, a low rate of sampling is beneficial from a networking/communication point of view especially in tele-haptics. In the second part of the talk, we investigate the limits of sampling and renderable stiffnesses in haptic devices from a stability standpoint. Having looked at the stability aspect, we concentrate on meeting the user experience requirements. Telehaptic applications involve delay-sensitive multimedia communication between remote locations with distinct Quality of Service (QoS) requirements for different media components. Meeting these QoS constraints is challenging, especially when the communication occurs over a shared network, with unknown and time-varying cross-traffic. In the final part of the talk, we present a transport layer congestion control protocol for telehaptic applications operating over shared networks.