The two-volume set LNCS 16593+16594 constitutes the refereed proceedings of the 15th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2026, held in Siena, Italy, during July 2026.The 82 full papers included in the proceedings were carefully reviewed and selected from 165 submissions. They focus on recent developments across haptic hardware, software, perception, and neuroscience, such as wearable and cutaneous haptics; the application of haptics in medical training and rehabilitation, etc.