We conduct research on application-oriented user interaction in the field of medical robotics. For this purpose, we develop and test haptic systems that provide the user with kinesthetic and tactile feedback and thus address several channels of human haptic perception. In the field of surgical telemanipulation we want to achieve the best possible identification of the user with the surgical environment. By means of haptic feedback with a high mechanical bandwidth, a haptic impression of common surgical processes such as the palpation of tissue, the guiding and tensioning of suturing material, and the grasping and pulling of tissue structures should be generated that is as close to reality as possible. We are researching the integration of force and torque sensing technology into surgical instruments, considering medical requirements such as sterilizability, as well as the realization of actuator technology based on parallel cable kinematics to display interaction forces.