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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, 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. The responsible German standardization committee is Joint Working Committee NA 023-00-04 GA "Gemeinschaftsarbeitsauschuss NAErg/NIA: Ergonomie für Informationsverarbeitungssysteme" ("Joint working committee NAErg/NIA: Ergnomics for information processing systems").