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). It applies to the following types of interaction: augmented reality information overlaid on a real scene, e.g. vibrating belt indicating distance; gesture control of a device or a virtual scenario; unidirectional interaction such as a vibrating phone or a vibrating belt; virtual environment virtual space with which a user can interact with the aid of a haptic device. This document applies to the following types of devices: gesture sensor, e.g. video that discerns 3D hand movements, touch screens that sense 2D touches; kinaesthetic haptic device, e.g. desktop haptic interface; tactile display, e.g. vibrating phone. This document is not applicable to standard input devices such as keyboards, mice or track balls. NOTE ISO 9241-400 covers standard input devices, and ISO 9241-411 applies to the evaluation of input devices such as keyboards and mice. This document can be used to identify the types of methods and measures for establishing benchmarks, establishing requirements for haptic interaction, identifying problems with haptic interaction (formative evaluation), and use of the criteria to establish whether a haptic system meets requirements (summative evaluation).