A method of modeling a haptic signal from a haptic object, the modeling method comprising: obtaining, through a sensor unit, measurement data corresponding to a shape of a texture object while moving the sensor unit with respect to the haptic object including the texture object; obtaining, through a force sensor, force measurement data corresponding to a level of pressure applied to the haptic object; calculating shape modeling data and impulse modeling data corresponding to the texture object, based on the measurement data; calculating friction force modeling data corresponding to the texture object, based on the force measurement data; generating setting information of a haptic signal corresponding to the haptic object, based on the shape modeling data, the impulse modeling data, and the friction force modeling data; and storing the setting information of the haptic signal in a memory; wherein the generating of the setting information of the haptic signal comprises: generating a haptic basic waveform corresponding to a shape of the haptic object, based on the shape modeling data and the impulse modeling data, and generating haptic basic waveform information corresponding to the haptic basic waveform; setting a haptic voltage level, based on the friction force modeling data; and generating frequency information of a carrier waveform combined with the haptic basic waveform, based on the friction force modeling data. obtaining, through a sensor unit, measurement data corresponding to a shape of a texture object while moving the sensor unit with respect to the haptic object including the texture object; obtaining, through a force sensor, force measurement data corresponding to a level of pressure applied to the haptic object; calculating shape modeling data and impulse modeling data corresponding to the texture object, based on the measurement data; calculating friction force modeling data corresponding to the texture object, based on the force measurement data; generating setting information of a haptic signal corresponding to the haptic object, based on the shape modeling data, the impulse modeling data, and the friction force modeling data; and storing the setting information of the haptic signal in a memory; wherein the generating of the setting information of the haptic signal comprises: generating a haptic basic waveform corresponding to a shape of the haptic object, based on the shape modeling data and the impulse modeling data, and generating haptic basic waveform information corresponding to the haptic basic waveform; setting a haptic voltage level, based on the friction force modeling data; and generating frequency information of a carrier waveform combined with the haptic basic waveform, based on the friction force modeling data. generating a haptic basic waveform corresponding to a shape of the haptic object, based on the shape modeling data and the impulse modeling data, and generating haptic basic waveform information corresponding to the haptic basic waveform; setting a haptic voltage level, based on the friction force modeling data; and generating frequency information of a carrier waveform combined with the haptic basic waveform, based on the friction force modeling data.