The　booming　haptic　data　significantly　improve　the　users’　immersion　during　multimedia　interaction.　As　a　result,　the　study　of　a　Haptic-based　Interaction　System　has　attracted　the　attention　of　the　multimedia　community.　To　construct　such　a　system,　a　challenging　task　is　the　synchronization　of　multiple　sensorial　signals　that　is　critical　to　the　user　experience.　Despite　audio-visual　synchronization　efforts,　there　is　still　a　lack　of　a　haptic-aware　multimedia　synchronization　model.　In　this　work,　we　propose　a　timestamp-independent　synchronization　for　haptic–visual　signal　transmission.　First,　we　exploit　the　sequential　correlations　during　delivery　and　playback　of　a　haptic–visual　communication　system.　Second,　we　develop　a　key　sample　extraction　of　haptic　signals　based　on　the　force　feedback　characteristics　and　a　key　frame　extraction　of　visual　signals　based　on　deep-object　detection.　Third,　we　combine　the　key　samples　and　frames　to　synchronize　the　corresponding　haptic–visual　signals.　Without　timestamps　in　the　signal　flow,　the　proposed　method　is　still　effective　and　more　robust　in　complicated　network　conditions.　Subjective　evaluation　also　shows　a　significant　improvement　of　user　experience　with　the　proposed　method.　©　2022　by　the　authors.