In this paper, we propose a method for the synthesis of haptic and auditory senses that is based on a physical model called AudioHaptics. We have developed an auditory environmen that incorporates haptic sensation. We achieved this by fitting a speaker at the end effecter of a haptic interface. The FEM (Finite Element Method) was used to calculate the vibration of a virtual object, and the sound pressure data at the speaker position was then calculated based on the 2D complex amplitude of the Object surface in real time. The effectiveness of our method was tested through making experiments with real users.