Disclosed are a method of modeling a haptic signal from a haptic object, a display apparatus, and a driving method thereof, which realize a tactile sense having a shape and texture of a haptic object. The method includes obtaining measurement data corresponding to a shape of a texture object while moving a sensor unit with respect to a haptic object including the texture object, obtaining 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.