find special charated and Replace with '- ' using jqery

having textbox on page where user can input document name using special character like

1) abc%test.
2) abc&test
3) abctest.
4) abc/test
5) abc+test
6) abc(test)
7) abc_test

Solution Required:

I want to change all these special charater with '-' . so it will be like below ( after replace ).
abc-test not abc%test

if any special character not get changed so it should prompt like " invalid character "