I have mixed feeling on this one. Most framework do rely one way or the other on a front-controller, that is, a servlet than intercepts the requests to various URL and dispatch the processing. You could maybe configure each framework to intercept different URL (e.g. /faces/* for JSF, /actions/* for Struts) to avoid clashes and make them coexist.
They are all based on the Servlet API, so you could maybe forward the processing of request from one framework to another using the Servlet API or access whatever is stored in the request using the Servlet API, but that sounds rather tricky to me, plus I don't see exactly the need to combine two frameworks.