An audio-haptic processor 2. comprising: an audio input configured to receive an audio signal; a haptic input configured to receive a haptic signal; an audio-haptic processor output configured to output an audio-haptic output signal; a haptic filter having a haptic filter pass-band in a first frequency range, a haptic filter input coupled to the haptic input, and a haptic filter 2. output; an audio filter having an audio filter pass-band in a second frequency range and an audio filter input coupled to the audio input, and an audio filter output, wherein the second frequency range comprises frequencies higher than frequencies in the first frequency range, and wherein the haptic filter is a low-pass filter and the audio filter is a high pass filter; a mixer having a first mixer input coupled to the haptic filter output, a second mixer input coupled to the audio filter output and a mixer output coupled to the audio-haptic processor output, wherein the audio-haptic processor output is configured to be coupled to an amplifier coupled to at least one haptic actuator and one audio actuator; a controller having a respective control output coupled to at least one of the haptic filter and the audio filter, and a respective input coupled to at least one of the audio input and the haptic input, and wherein the controller is configured to adapt a filter characteristic of at least one of the haptic filter and the audio filter dependent on at least one of an audio signal received on the audio input and a haptic signal received on the haptic input; wherein the controller is further configured to adapt the filter characteristic of at least one of the haptic filter and the audio filter to maintain the amplitude of the audio-haptic output signal below a predetermined value. an audio input configured to receive an audio signal; a haptic input configured to receive a haptic signal; an audio-haptic processor output configured to output an audio-haptic output signal; a haptic filter having a haptic filter pass-band in a first frequency range, a haptic filter input coupled to the haptic input, and a haptic filter 2. output; an audio filter having an audio filter pass-band in a second frequency range and an audio filter input coupled to the audio input, and an audio filter output, wherein the second frequency range comprises frequencies higher than frequencies in the first frequency range, and wherein the haptic filter is a low-pass filter and the audio filter is a high pass filter; a mixer having a first mixer input coupled to the haptic filter output, a second mixer input coupled to the audio filter output and a mixer output coupled to the audio-haptic processor output, wherein the audio-haptic processor output is configured to be coupled to an amplifier coupled to at least one haptic actuator and one audio actuator; a controller having a respective control output coupled to at least one of the haptic filter and the audio filter, and a respective input coupled to at least one of the audio input and the haptic input, and wherein the controller is configured to adapt a filter characteristic of at least one of the haptic filter and the audio filter dependent on at least one of an audio signal received on the audio input and a haptic signal received on the haptic input; wherein the controller is further configured to adapt the filter characteristic of at least one of the haptic filter and the audio filter to maintain the amplitude of the audio-haptic output signal below a predetermined value.