Haptic devices have been around for decades, providing critical information, usability benefits and improved experiences across tasks from surgical operations to playful applications in Mixed Reality. We see more and more software and hardware solutions emerging that provide design tools, design approaches and platforms, both in academia and industry. However, we believe that designers often re-invent the wheel, and must spend an inordinate amount of time doing their work, which is not sustainable for long-term research. This workshop aims at gathering people from academia and industry to provide a common ground to discuss various insights on and visions of the field. We aim to bring together the various strands of haptics — devices, software, and design — to assess the current state-of-the-art and propose an agenda towards haptics as a united design discipline. We expect the outcome of the workshop to be a comprehensive overview of existing tools and approaches, along with recommendations on how to move the field forward, together.