Various embodiments of the present invention relate to a method for controlling an actuator. The present invention can detect a haptic generation event through a sensor unit, check data of an actuator and data of a human receptor stored in a memory in response to the haptic generation event, calculate a driving voltage of the actuator on the basis of the checked data of the actuator and the checked data of the human receptor, and drive the actuator with the calculated driving voltage. Other embodiments are also possible.