The primary goal of this research effort is to improve the effectiveness of skill transfer, rehabilitation, and collaboration via haptic devices. To do so, we will formulate requirements for shared control between humans and robots in haptic systems designed for training, rehabilitation, and collaboration. Experimental test-beds comprised of one and two commercial haptic devices with force sensing capabilities is employed throughout the project. We plan to study two shared control system architectures for skill transfer. In the first, the human acts as the novice or patient, and the robot serves as the expert. Control schemes for the expert system (the haptic device) will be designed and analyzed theoretically and experimentally. The second phase of the research effort will explore human-robot-human interfaces.