An audio-haptic signal generator for a haptic system including an amplifier coupled to a haptic actuator is described. The audio-haptic signal generator includes an audio input configured to receive an audio signal; a haptic input configured to receive a haptic signal and a controller configured to receive to at least one of the haptic signal, an amplifier state and a haptic actuator state. A mixer is coupled to the audio input and the haptic input. The mixer has an output configured to be coupled to a haptic actuator. The controller controls the mixer to process the audio signal dependent on at least one of a characteristic of the haptic signal, an amplifier state, and a haptic actuator state. The mixer is configured to mix the haptic signal and processed audio signal on to output the mixed haptic signal and processed audio signal.