SIST EN ISO 9241-910:2011
(Main)Ergonomics of human-system interaction - Part 910: Framework for tactile and haptic interaction (ISO 9241-910:2011)
Ergonomics of human-system interaction - Part 910: Framework for tactile and haptic interaction (ISO 9241-910:2011)
This standard provides a framework for understanding and communicating about various aspects of tactile/haptic interaction.
It contains definitions, structures, models, and explanations that are used in other parts in the 9241-9xx series.
It also provides general information about how various forms of interaction can be applied to various user tasks.
It applies to all types of interactive systems making use of tactile/haptic devices and interactions.
NOTE this standard does not address purely kinaesthetic interactions, such as gestures, although it might be useful for such interactions.
Ergonomie der Mensch-System-Interaktion - Teil 910: Rahmen für die taktile und haptische Interaktion (ISO 9241-910:2011)
Dieser Teil der ISO 9241 bietet ein Rahmenwerk für das Verständnis und den Austausch über die verschiedenen Aspekte der taktilen/haptischen Interaktion. Sie definiert Begriffe, beschreibt Strukturen und Modelle, und gibt Erläuterungen, die auf andere Teile der Normen¬reihe 9241 "900" Bezug nehmen. Sie bietet auch Anweisungen, wie verschiedene Formen der Interaktion auf unterschiedliche Anwenderaufgaben angewendet werden können.
Sie ist für alle Typen von Interaktionssystemen, die taktile/haptische Geräte und Interaktionen anwendbar.
Sie spricht keine rein kinästhetischen Interaktionen, wie Gesten an, auch wenn es für das Verständnis derartiger Interaktionen nützlich sein könnte.
Ergonomie de l'interaction homme-système - Partie 910: Cadre pour les interactions tactiles et haptiques (ISO 9241-910:2011)
L'ISO 9241-910:2011 fournit un cadre permettant de comprendre et d'échanger sur différents aspects de l'interaction tactile/haptique. Elle définit des termes, décrit des structures et des modèles, et donne des explications en rapport avec les autres parties de la série de normes «900» de l'ISO 9241. Elle donne également des lignes directrices sur la façon dont les différentes formes d'interaction peuvent être appliquées aux diverses tâches de l'utilisateur.
Elle est applicable à tous les types de systèmes interactifs utilisant des dispositifs et interactions tactiles/haptiques.
L'ISO 9241-910:2011 ne traite pas des interactions purement kinesthésiques, tels que les gestes, bien qu'elle puisse être utile pour de telles interactions.
Ergonomija medsebojnega vpliva človek-sistem - 910. del: Okvirna specifikacija za otipno in haptično medsebojno vplivanje (ISO 9241-910:2011)
Ta standard zagotavlja okvirno specifikacijo za razumevanje in komunikacijo o različnih vidikih otipnega in haptičnega medsebojnega vplivanja.
Vsebuje definicije, strukture, modele in razlage, ki so uporabljene v drugih delih serij 9241-9xx.
Prav tako zagotavlja splošne informacije o tem, kako se lahko uporabijo različne oblike medsebojnega vpliva za različne naloge uporabnika.
Velja za vse vrste sistemov medsebojnega vpliva, ki izrabljajo uporabo otipnih in haptičnih naprav in medsebojnih vplivanj.
OPOMBA: ta standard ne naslavlja čista kinestetična medsebojna vplivanja, kot so geste, čeprav je lahko koristen pri takih medsebojnih vplivanjih.
General Information
Standards Content (Sample)
SLOVENSKI STANDARD
SIST EN ISO 9241-910:2011
01-december-2011
(UJRQRPLMDPHGVHERMQHJDYSOLYDþORYHNVLVWHP GHO 2NYLUQDVSHFLILNDFLMD]D
RWLSQRLQKDSWLþQRPHGVHERMQRYSOLYDQMH ,62
Ergonomics of human-system interaction - Part 910: Framework for tactile and haptic
interaction (ISO 9241-910:2011)
Ergonomie der Mensch-System-Interaktion - Teil 910: Rahmen für die taktile und
haptische Interaktion (ISO 9241-910:2011)
Ergonomie de l'interaction homme-système - Partie 910: Cadre pour les interactions
tactiles et haptiques (ISO 9241-910:2011)
Ta slovenski standard je istoveten z: EN ISO 9241-910:2011
ICS:
13.180 Ergonomija Ergonomics
35.180 Terminalska in druga IT Terminal and other
periferna oprema IT peripheral equipment
SIST EN ISO 9241-910:2011 en,fr,de
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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SIST EN ISO 9241-910:2011
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SIST EN ISO 9241-910:2011
EUROPEAN STANDARD
EN ISO 9241-910
NORME EUROPÉENNE
EUROPÄISCHE NORM
July 2011
ICS 13.180; 35.180
English Version
Ergonomics of human-system interaction - Part 910: Framework
for tactile and haptic interaction (ISO 9241-910:2011)
Ergonomie de l'interaction homme-système - Partie 910: Ergonomie der Mensch-System-Interaktion - Teil 910:
Cadre pour les interactions tactiles et haptiques (ISO 9241- Rahmen für die taktile und haptische Interaktion (ISO 9241-
910:2011) 910:2011)
This European Standard was approved by CEN on 8 July 2011.
CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European
Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national
standards may be obtained on application to the CEN-CENELEC Management Centre or to any CEN member.
This European Standard exists in three official versions (English, French, German). A version in any other language made by translation
under the responsibility of a CEN member into its own language and notified to the CEN-CENELEC Management Centre has the same
status as the official versions.
CEN members are the national standards bodies of Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia,
Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland,
Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland and United Kingdom.
EUROPEAN COMMITTEE FOR STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION
EUROPÄISCHES KOMITEE FÜR NORMUNG
Management Centre: Avenue Marnix 17, B-1000 Brussels
© 2011 CEN All rights of exploitation in any form and by any means reserved Ref. No. EN ISO 9241-910:2011: E
worldwide for CEN national Members.
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SIST EN ISO 9241-910:2011
EN ISO 9241-910:2011 (E)
Contents Page
Foreword .3
2
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SIST EN ISO 9241-910:2011
EN ISO 9241-910:2011 (E)
Foreword
This document (EN ISO 9241-910:2011) has been prepared by Technical Committee ISO/TC 159
“Ergonomics” in collaboration with Technical Committee CEN/TC 122 “Ergonomics” the secretariat of which is
held by DIN.
This European Standard shall be given the status of a national standard, either by publication of an identical
text or by endorsement, at the latest by January 2012, and conflicting national standards shall be withdrawn at
the latest by January 2012.
Attention is drawn to the possibility that some of the elements of this document may be the subject of patent
rights. CEN [and/or CENELEC] shall not be held responsible for identifying any or all such patent rights.
According to the CEN/CENELEC Internal Regulations, the national standards organizations of the following
countries are bound to implement this European Standard: Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech
Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia,
Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain,
Sweden, Switzerland and the United Kingdom.
Endorsement notice
The text of ISO 9241-910:2011 has been approved by CEN as a EN ISO 9241-910:2011 without any
modification.
3
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SIST EN ISO 9241-910:2011
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SIST EN ISO 9241-910:2011
INTERNATIONAL ISO
STANDARD 9241-910
First edition
2011-07-15
Ergonomics of human-system
interaction —
Part 910:
Framework for tactile and haptic
interaction
Ergonomie de l'interaction homme-système —
Partie 910: Cadre pour les interactions tactiles et haptiques
Reference number
ISO 9241-910:2011(E)
©
ISO 2011
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SIST EN ISO 9241-910:2011
ISO 9241-910:2011(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2011
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means,
electronic or mechanical, including photocopying and microfilm, without permission in writing from either ISO at the address below or
ISO's member body in the country of the requester.
ISO copyright office
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Fax + 41 22 749 09 47
E-mail copyright@iso.org
Web www.iso.org
Published in Switzerland
ii © ISO 2011 – All rights reserved
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SIST EN ISO 9241-910:2011
ISO 9241-910:2011(E)
Contents Page
Foreword .v
Introduction.vii
1 Scope.1
2 Terms and definitions .1
3 Introduction to haptics.4
4 Human haptic exploration .5
4.1 Importance of the haptic sense .5
4.2 Haptics and vision.5
4.3 Manual exploration of objects.6
4.4 Training in exploratory procedures.6
4.5 The problem of getting an overview of a scene with haptics .7
4.6 Minimum physical stimulation: absolute thresholds .7
4.7 Minimum differences needed for perception.7
4.8 Perception of geometric properties of objects.7
4.9 Perception of weight .7
4.10 Perception of material properties .8
4.11 Number and size of contact surfaces in tactile/haptic devices.8
4.12 Summary .8
5 When to use tactile/haptic interactions.9
5.1 General .9
5.2 Accessibility.9
5.3 Desktop interactions .10
5.4 Mobile interactions.10
5.5 Robotics .10
5.6 Medical.11
5.7 Gaming .11
5.8 Art and creativity .12
5.9 Multimodal applications and simulators.12
6 Designing tactile/haptic interactions.13
6.1 Design guidelines for tactile/haptic interaction .13
6.2 Designing tactile/haptic space.14
6.3 Addressability and resolution in tactile/haptic interaction.15
7 User-initiated interactive task primitives .17
7.1 General .17
7.2 Searching .17
7.3 Overviewing .17
7.4 Navigating .18
7.5 Targeting .18
7.6 Selection.18
7.7 Manipulation .19
8 Tactile/haptic interaction elements .20
8.1 General .20
8.2 Tactile/haptic functional effects.20
8.3 Tactile/haptic properties of objects.21
8.4 Control elements .23
8.5 Using multi-point-contact interfaces.23
8.6 Combining elements and effects .24
8.7 Distinguishability.24
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ISO 9241-910:2011(E)
9 The range of tactile/haptic interface devices.24
9.1 General.24
9.2 Selection criteria.24
Annex A (informative) Tactile devices.35
Annex B (informative) Tactile/haptic devices that provide force feedback.39
Annex C (informative) Physiology of haptics.44
Bibliography .50
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SIST EN ISO 9241-910:2011
ISO 9241-910:2011(E)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies
(ISO member bodies). The work of preparing International Standards is normally carried out through ISO
technical committees. Each member body interested in a subject for which a technical committee has been
established has the right to be represented on that committee. International organizations, governmental and
non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the
International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.
International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2.
The main task of technical committees is to prepare International Standards. Draft International Standards
adopted by the technical committees are circulated to the member bodies for voting. Publication as an
International Standard requires approval by at least 75 % of the member bodies casting a vote.
Attention is drawn to the possibility that some of the elements of this document may be the subject of patent
rights. ISO shall not be held responsible for identifying any or all such patent rights.
ISO 9241-910 was prepared by Technical Committee ISO/TC 159, Ergonomics, Subcommittee SC 4,
Ergonomics of human-system interaction.
ISO 9241 consists of the following parts, under the general title Ergonomic requirements for office work with
visual display terminals (VDTs):
⎯ Part 1: General introduction
⎯ Part 2: Guidance on task requirements
⎯ Part 4: Keyboard requirements
⎯ Part 5: Workstation layout and postural requirements
⎯ Part 6: Guidance on the work environment
⎯ Part 9: Requirements for non-keyboard input devices
⎯ Part 11: Guidance on usability
⎯ Part 12: Presentation of information
⎯ Part 13: User guidance
⎯ Part 14: Menu dialogues
⎯ Part 15: Command dialogues
⎯ Part 16: Direct manipulation dialogues
⎯ Part 17: Form filling dialogues
ISO 9241 also consists of the following parts, under the general title Ergonomics of human-system interaction:
⎯ Part 20: Accessibility guidelines for information/communication technology (ICT) equipment and services
⎯ Part 100: Introduction to standards related to software ergonomics [Technical Report]
⎯ Part 110: Dialogue principles
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SIST EN ISO 9241-910:2011
ISO 9241-910:2011(E)
⎯ Part 129: Guidance on software individualization
⎯ Part 143: Forms
⎯ Part 151: Guidance on World Wide Web user interfaces
⎯ Part 171: Guidance on software accessibility
⎯ Part 210: Human-centred design for interactive systems
⎯ Part 300: Introduction to electronic visual display requirements
⎯ Part 302: Terminology for electronic visual displays
⎯ Part 303: Requirements for electronic visual displays
⎯ Part 304: User performance test methods for electronic visual displays
⎯ Part 305: Optical laboratory test methods for electronic visual displays
⎯ Part 306: Field assessment methods for electronic visual displays
⎯ Part 307: Analysis and compliance test methods for electronic visual displays
⎯ Part 308: Surface-conduction electron-emitter displays (SED) [Technical Report]
⎯ Part 309: Organic light-emitting diode (OLED) displays [Technical Report]
⎯ Part 310: Visibility, aesthetics and ergonomics of pixel defects [Technical Report]
⎯ Part 400: Principles and requirements for physical input devices
⎯ Part 410: Design criteria for physical input devices
⎯ Part 411: Evaluation methods for the design of physical input devices [Technical Specifiction]
⎯ Part 420: Selection of physical input devices
⎯ Part 910: Framework for tactile and haptic interaction
⎯ Part 920: Guidance on tactile and haptic interactions
The following parts are under preparation:
⎯ Part 154: Interactive voice response (IVR) applications
Human-centred design and evaluation methods, optical characteristics of autostereoscopic displays, and
requirements, analysis and compliance test methods for the reduction of photosensitive seizures are to form
the subjects of future parts 230, 331 and 391.
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SIST EN ISO 9241-910:2011
ISO 9241-910:2011(E)
Introduction
Tactile and haptic interactions are becoming increasingly important as candidate interaction modalities in
computer systems such as special-purpose computing environments (e.g. simulation) and assistive
technologies.
While considerable research exists, it involves a wide diversity of terms, meanings of terms, viewpoints,
software and hardware objects, attributes and interactions. This diversity can lead to serious ergonomic
difficulties for both developers and users of tactile/haptic interactions.
This part of ISO 9241 provides a common set of terms, definitions and descriptions for the various concepts
central to the design and use of tactile/haptic interactions. It includes basic guidance (including references to
related standards) in the design of tactile/haptic interactions. It also provides an overview of the range of
tactile/haptic applications, objects, attributes and interactions.
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SIST EN ISO 9241-910:2011
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SIST EN ISO 9241-910:2011
INTERNATIONAL STANDARD ISO 9241-910:2011(E)
Ergonomics of human-system interaction —
Part 910:
Framework for tactile and haptic interaction
1 Scope
This part of ISO 9241 provides a framework for understanding and communicating various aspects of
tactile/haptic interaction. It defines terms, describes structures and models, and gives explanations related to
the other parts of the ISO 9241 “900” subseries. It also provides guidance on how various forms of interaction
can be applied to a variety of user tasks.
It is applicable to all types of interactive systems making use of tactile/haptic devices and interactions.
It does not address purely kinaesthetic interactions, such as gestures, although it might be useful for
understanding such interactions.
2 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
2.1
haptics, noun
sensory and/or motor activity based in the skin, muscles, joints and tendons
NOTE Haptics consists of two parts: touch and kinaesthesis.
2.2
haptic, adj
appertaining to haptics
NOTE While there is no difference between haptic and tactile in most dictionary definitions, in the area of haptics,
researchers and developers use haptic to include all haptic sensations, while tactile is limited to mechanical stimulation of
the skin. In ISO 9241, the word haptic covers all touch sensations and tactile is used in a more specific manner. Also, both
terms can be used together to assist in searches.
2.3
touch
sense based on receptors in the skin
NOTE Cutaneous receptors are used for the perception of touch.
2.4
cutaneous
belonging to the skin
NOTE Cutaneous receptors respond to mechanical stimulation and temperature changes.
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ISO 9241-910:2011(E)
2.5
tactile
appertaining to touch
2.6
vibrotactile
vibration-based stimulation of the skin
EXAMPLE A cellular phone uses vibrotactile stimulation to alert the user.
2.7
kinaesthesis, noun
sense and motor activity based in the muscles, joints and tendons
NOTE 1 Kinaesthesis includes both input and output.
NOTE 2 Receptors in the muscles, joints and tendons are used for the perception of kinaesthesis.
NOTE 3 Muscles, tendons and joints are used for motor activity.
2.8
kinaesthetic, adj
appertaining to kinaesthesis
NOTE 1 Types of kinaesthetic sensation arise from force, movement, position, displacement and joint angle.
NOTE 2 Types of kinaesthetic actions include movement, exertion of force and torque, and achievement of position,
displacement and joint angle.
NOTE 3 Proprioception refers to the sense of one's own body position and movement. This term is often used
interchangeably with kinaesthesis, although the latter is concerned more with motion. The sense of balance, for example,
might fall more under proprioception than kinaesthesis.
2.9
force feedback
force presented to and detected by a user
NOTE Although this does not necessarily involve feedback, the term “force feedback” is commonly used in this
context.
2.10
perceptual illusion
perception that does not correspond to a physical measurement of the stimulus source
2.11
sensory adaptation
change over time in the responsiveness of the sensory system to a constant stimulus
2.12
(tactile/haptic) spatial masking
effect that occurs when a distracter stimulus, which is close to the target stimulus, degrades the perception of
the target
2.13
(tactile/haptic) temporal masking
effect that occurs when a distracter stimulus, which is presented immediately preceding or following a target
stimulus, degrades the perception of the target
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SIST EN ISO 9241-910:2011
ISO 9241-910:2011(E)
2.14
tactile/haptic object
component of an interactive system that a user can interact with haptically
2.15
(tactile/haptic) user interface element
entity of a user interface that is presented in a tactile/haptic form
2.16
(tactile/haptic) task primitive
fundamental action of a user for carrying out the tasks for which the device is designed
2.17
tactile label
label of a user interface element that is presented in the tactile/haptic modality
2.18
tactile map
map that is presented in the tactile/haptic modality with input functions
NOTE 1 The input functions include finger touching, lifting off, or moving across the map for producing position and
selection.
NOTE 2 Tactile maps are often used to help blind people navigate.
2.19
stiffness
hardness
elasticity
haptic response to interactions involving force normal to a virtual object's surface
NOTE 1 “Stiffness” is often known as “hardness” when applied to rigid material.
NOTE 2 “Stiffness” is often known as “elasticity” when applied to soft material.
NOTE 3 Maximum stiffness is the highest equivalent spring constant of a virtual surface that can be provided by the
device without instability.
2.20
burst
intentionally short tactile/haptic stimulation
NOTE A burst typically lasts between 10 ms and 1 s.
2.21
probe
object in a virtual space that is under the control of a tactile/haptic device
2.22
spatial resolution
degree to which the physical output from a user can be utilized by the device
2.23
addressability
ability to address a specific point or set of points in a workspace
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SIST EN ISO 9241-910:2011
ISO 9241-910:2011(E)
3 Introduction to haptics
The science of haptics and the creation of tactile/haptic devices depend on knowledge of the human body,
especially on its capability to sense both touch to the skin and kinaesthetic activity in the limbs and body joints.
Figure 1 shows the relationship between the components that make up the field of haptics. The field is divided
between the study of touch and the study of kinaesthesis.
Figure 1 — The components of haptics
“Touch” includes such diverse stimuli as mechanical, thermal, chemical and electrical stimulation to the skin.
Specific nerves and sensing organs in the skin respond to these stimuli with different spatial and temporal
resolutions.
The kinaesthetic sense can be matched by kinaesthetic activity by which a user exerts force or torque on an
object external to the active body part. With the combination of kinaesthetic sensing and kinaesthetic activity,
the user can detect the force and torque with which the body resists the force and torque of a tactile/haptic
device. Likewise, by imposing a measured force and torque on an object, the user can determine macro
properties such as its inertia.
Kinaesthesis is thereby bi-directional, both sensing the environment and actively manipulating it in a two-way
exchange of information and action.
NOTE 1 Active touch involves kinaesthesis, passive touch does not. Active and passive touch are often very useful
concepts by which to distinguish interactions. In interactions, it is not always possible to identify the two concepts with
particular devices. Depending on the task, one form of touch might be superior to another.
NOTE 2 Interaction with tactile/haptic devices might use different combinations of these haptic components at multiple
points of contact.
NOTE 3 See Annex C for the details of the physiology of human haptics.
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ISO 9241-910:2011(E)
4 Human haptic exploration
4.1 Importance of the haptic sense
Haptics is of great importance for human life, much more so than is generally recognized. For instance, when
you are searching for an object in your pocket or bag without the help of vision, haptics is engaged. When you
identify the object you wanted, grasp it with suitable force and take it out, your actions are based on haptics.
This sense can identify common objects quite efficiently, with near perfect discrimination within a few seconds,
especially when the observer has some expectation about the options.
By palpating the surface of a body, a physician can obtain information about the conditions of organs under
the skin and fat layers, conditions that cannot be perceived visually.
The haptic sense can also allow remote touching, as when a distant object is probed with a tool. For example,
a visually impaired person may use a cane to perceive the properties of the ground at the tip of the cane.
The hands, in particular, have had an enormous importance in the biological and cultural development of
human beings in their contact with the environment. They are at the same time useful for both perception and
action in a continuous interaction with the environment. A hand has an impressive ability to adapt to many
different kinds of manipulation tasks, from very small ones requiring high precision to large ones where large
forces are needed. The actions are at all times guided by haptic feedback.
However, haptics within computer applications is new compared to visual and auditory interactions and is still
relatively limited. Present-day tactile/haptic devices still need much development before they can fully utilize
the capacity of the haptic sense.
Touch is also often used to confirm information we gain about the reality of the world.
4.2 Haptics and vision
4.2.1 Similarities and differences between haptics and vision
Haptics has many properties in common with vision. It can be used to locate objects in relation to the observer
in near space (but only within arm's reach unless a tool is used), to find edges separating surfaces and to
perceive the size and form of objects (that are not too large to be explored by a person). In perceiving texture,
haptics not only matches vision but is, in many conditions, superior to it.
In some ta
...
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