I read this (listened, really) immediately after completing the previous book, Naked Sun. Asimov wrote them decades apart, and one can feel the difference between the volume written in the 50s and the next book written in the 80s. Having said that, the arc between the novels feels entirely consistent. Elijah Baley is summoned to the planet Aurora to solve a mystery. Where his previous off-earth experience had been to a planet (Solaria) where

Spoiler

physical human contact

was almost unheard of, on Aurora the social climate is radically different. Once again, Asimov skillfully uses nuances of the word "harm" in the three robotic laws to impressive effect. What constitutes harm? How does one determine a greater of two or more potential harms? Asimov also asks several cultural questions centered around sexual mores that are still being asked today.