Haptics, audio and human-computer interaction are three scientific disciplines that share interests, issues and methodologies. Despite these common points, interaction between these communities are sparse, because each of them have their own publication venues, meeting places, etc. A venue to foster interaction between these three communities was created in 2006, the Haptic and Audio Interaction Design workshop (HAID), aiming to provide a meeting place for researchers in these areas. HAID was carried out yearly from 2006 to 2013, then discontinued. Having worked in the intersection of these areas for several years, we felt the need to revive this event and decided to organize a HAID edition in 2019 in Lille, France. HAID 2019 was attended by more than 100 university, industry and artistic researchers and practitioners, showing the continued interest for such a unique venue. This special issue gathers extended versions of a selection of papers presented at the 2019 workshop. These papers focus on several directions of research on haptics, audio and HCI, including perceptual studies and the design, evaluation and use of vibrotactile and force-feedback devices in audio, musical and game applications.