The two-volume set LNCS 9774 and 9775 includes the peer-reviewed proceedings of the 10th International Conference on EuroHaptics 2016, which took place in July 2016 in London, UK. These proceedings contain 100 contributions, including 36 oral presentations and 64 poster presentations, carefully selected from 162 submissions. The works reflect the interdisciplinary nature of EuroHaptics and cover a wide range of topics, from the perception of hardness and softness to haptic devices, motor control, and tactile cues. Other aspects addressed include the control of haptic interfaces, thermal perception, robotics, and sensing, as well as various applications. This collection provides valuable insights into current developments and challenges in the field of haptics.