This document
— describes the types of methods that can be used for the evaluation of haptic devices and of systems that include haptic devices,— specifies a procedure for the evaluation of haptic interactions by a usability walkthrough or usability test (see Annex J), and— provides guidance on the types of methods that are appropriate for the evaluation of specific attributes of haptic systems, cross-referenced to the guidance in the relevant clauses of other International Standards (see Annexes A, B, C, D, E, F and G).