The present disclosure relates to a method for operating a haptic system, the haptic system comprising at least one actuator and at least one haptic control device adapted to control the at least one actuator and to provide haptic feedback to a user, the method comprising the steps of: obtaining, from a feedback computational model, modelled feedback data, obtaining, from a feedback estimator, estimated feedback data based on measurement data determined from measurement made on the haptic system, overlaying the modelled feedback data and the estimated feedback data to generate blended feedback data, and providing the blended feedback data to control the haptic feedback to the user.