1 Scope
2 Conformity
3 Normative references
4 Terms and definitions
5 Uses of ISO 9241-940
6 Unique aspects of haptic interactions
7 Evaluation Tools
8 Quality of haptic interaction
9 Guide to the Annexes
Annex A (normative) - Haptic device attributes
Annex B (normative) - Haptic effect design principles
Annex C (normative) - Haptic effect task elements
Annex D (normative) - Context of Use
Annex E (normative) - Specific usage qualities
Annex F (normative) - Human-centred quality
Annex G (normative) - Gesture Attributes
Annex H (informative) - Examples of evaluation of
device attributes
Annex I (normative) - Evaluation by usability walkthrough
or usability test
Bibliography