An integrated haptic system comprising: a digital signal processor (202; 402; 902; 1002; 1102) configured to: receive an input signal indicative of a force applied to a force sensor ; and generate a haptic playback signal responsive to the input signal; and an amplifier (206; 406; 906; 1002; 1106) communicatively coupled to the digital signal processor, integrated with the digital signal processor into the integrated haptic system, and configured to amplify the haptic playback signal for driving a vibrational actuator with the haptic playback signal as amplified by the amplifier; wherein the digital signal processor is further configured to, responsive to a condition for changing a polarity of the haptic playback signal, change the polarity of the haptic playback signal, characterized in that the condition for changing the polarity of the haptic playback signal comprises one of: the passage of a time equal to an inverse of a frequency of the haptic playback signal for which a maximum clipping-free acceleration level of the vibrational actuator is obtainable; or an estimated velocity of the vibrational actuator reaching a threshold velocity level or velocity peak, wherein the digital signal processor is further configured to calculate the estimated velocity based on one or more measured electrical parameters of the vibrational actuator. a digital signal processor (202; 402; 902; 1002; 1102) configured to: receive an input signal indicative of a force applied to a force sensor ; and generate a haptic playback signal responsive to the input signal; and receive an input signal indicative of a force applied to a force sensor ; and generate a haptic playback signal responsive to the input signal; and an amplifier (206; 406; 906; 1002; 1106) communicatively coupled to the digital signal processor, integrated with the digital signal processor into the integrated haptic system, and configured to amplify the haptic playback signal for driving a vibrational actuator with the haptic playback signal as amplified by the amplifier; wherein the digital signal processor is further configured to, responsive to a condition for changing a polarity of the haptic playback signal, change the polarity of the haptic playback signal, characterized in that the condition for changing the polarity of the haptic playback signal comprises one of: the passage of a time equal to an inverse of a frequency of the haptic playback signal for which a maximum clipping-free acceleration level of the vibrational actuator is obtainable; or an estimated velocity of the vibrational actuator reaching a threshold velocity level or velocity peak, wherein the digital signal processor is further configured to calculate the estimated velocity based on one or more measured electrical parameters of the vibrational actuator. the passage of a time equal to an inverse of a frequency of the haptic playback signal for which a maximum clipping-free acceleration level of the vibrational actuator is obtainable; or an estimated velocity of the vibrational actuator reaching a threshold velocity level or velocity peak, wherein the digital signal processor is further configured to calculate the estimated velocity based on one or more measured electrical parameters of the vibrational actuator. <EOS>