A resolved CFD-DEM coupling model for the simulation of particulate flows is proposed in this work. The Volume Penalisation (VP) method, which is a family of the continuous forcing Immersed Boundary (IB) method, is employed to express the particle-fluid interaction. A smooth mask function is used to avoid sharp transition between the solid (particle) and fluid domains that may cause numerical oscillation with moving particles. Optimal permeability is employed to reduce the model error associated with the VP method. It is determined as a function of only the interface thickness and fluid kinematic viscosity. The proposed model is accurate, easy to implement with any discretisation scheme, and only requires small computational overhead for particle-fluid interaction. Several simulations are performed to test the validity of the proposed model in various systems, i.e. from dilute to relatively dense flows, and the results show good agreement with the exact solution or empirical correlation. It is found that the error can be scaled with the ratio between the gap and interface thickness. The proposed model is also applied to predict the relative viscosity of suspensions and the density segregation in fluidised beds. (c) 2021 The Society of Powder Technology Japan. Published by Elsevier B.V. and The Society of Powder Technology Japan. This is an open access article under the CC BY-NC-ND license (http://creativecommons. org/licenses/by-nc-nd/4.0/).