Embodiments described herein relate to methods and apparatuses for providing a haptic output signal to a haptic actuator. A controller comprises an input configured to receive a force sensor signal from at least one force sensor; and a haptic output module configured to generate a haptic output signal for output to a haptic actuator; wherein the haptic output module is configured to: responsive to determining that the force sensor signal indicates that a force level applied to the at least one force sensor exceeds a first threshold, trigger output of the haptic output signal; and during output of the haptic output signal, adjust the haptic output signal based on the force sensor signal.