Abstract: A method includes generating an audio signal, generating a control signal that is configured to control a haptic feedback device that is incorporated into a device for delivering audio based on the audio signal to a user, and embedding the control signal in the audio signal. Another method includes receiving a signal that includes an audio signal having an embedded control signal, recovering the audio signal from the received signal, using the recovered audio signal to generate audio in a device for delivering audio, recovering the control signal from the received signal, and using the recovered control signal to control a haptic feedback device that is incorporated into the device for delivering audio. Systems perform similar steps, and non-transitory computer readable storage mediums each store one or more computer programs.