Successful collaborative interaction between humans and cyber-physical systems requires optimal feedback provided to the user. Therefore human factors need to be integrated when building human-in-the-loop systems. This chapter sheds light on current research and technologies as well as challenges and future directions for the development of interface solutions inducing immersive augmented perception and interaction. We give an overview of past developments and state-of-the-art research and technology that introduces haptics into the system. Further, we discuss the necessity to define boundaries for maintaining goal-driven behavior during the interaction between humans and cyber-physical systems to be used for benchmark-setting to invent new sensor, actuator, and electronic technologies. This line of research, together with evidence from human-inspired reasoning techniques and model-based coding, will deliver guidelines for the design of human-in-the-loop systems in different fields of application.