ISO 9241-940:2017

Overview

ISO 9241-940:2017 - Ergonomics of human-system interaction: Evaluation of tactile and haptic interactions provides structured guidance on how to evaluate haptic and tactile systems. The standard describes appropriate evaluation methods, specifies a usability walkthrough/usability test procedure (Annex J), and cross-references methods relevant to specific haptic attributes (Annexes A–G). It applies to interactions such as augmented reality, gesture control, unidirectional tactile feedback (e.g., vibrating devices), and virtual environments, and to devices including gesture sensors, kinaesthetic haptic devices, and tactile displays.

Key technical topics and requirements

• Evaluation methods: outlines types of methods suitable for haptic systems - physical measurements, expert inspection, and usability testing (including formative and summative approaches).
• Usability walkthrough / usability test: normative procedure provided in Annex J for structured assessment of haptic interactions.
• Quality model and attributes: guidance on assessing haptic system quality, covering device attributes, haptic user interface attributes, and usability attributes (effectiveness, efficiency, satisfaction, avoidance of harm).
• Evaluation matrix: advice on selecting measures and methods mapped to specific haptic attributes and contexts of use.
• Planning and lifecycle integration: sections on how to use the standard during design, initial assessment, and development to set requirements, benchmarks, and test plans.
• Scope limitations: not applicable to standard input devices (keyboards, mice, trackballs); see ISO 9241-400 and ISO 9241-411 for those devices.

Practical applications - who uses ISO 9241-940

This standard is useful for:

• Haptics engineers and device manufacturers designing tactile displays, wearable haptic devices, or desktop kinaesthetic interfaces.
• UX researchers and usability testers conducting usability evaluations, formative testing, or summative conformance checks of haptic interactions.
• Product managers and system integrators establishing benchmarks and requirements for haptic feedback in AR/VR, wearables, or assistive technologies.
• Accessibility specialists ensuring tactile interfaces meet diverse user needs.
• Procurement and QA teams using standardized evaluation criteria for vendor comparison and compliance.

Practical examples: evaluating a vibrating belt for distance cues in AR, testing gesture-control responsiveness, benchmarking a desktop haptic interface used for training simulations, or assessing tactile alerts on mobile devices.

Related standards

• ISO 9241-910 (terms and overview of haptic concepts)
• ISO 9241-920 (design guidance for haptic interactions)
• ISO 9241-960 (gesture definition and attributes)
• ISO 9241-400 / ISO 9241-411 (standard input device guidance and evaluation)

ISO 9241-940:2017 helps organizations implement robust, repeatable evaluation processes for tactile and haptic interactions, supporting better design, usability, accessibility, and product comparison.