A lot of research has been done on usability evaluation of software systems that results in different usability factors proposed to evaluate the overall usability of a system. Despite the effort, there is no consensus on usability factors and criteria (sub-factors) to determine the appropriateness of these factors with respect to the system and domain under study. This paper attempts to find out which usability factors are more important for haptic systems in particular and for other systems in

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... general. It also attempts to justify the relationship between usability factors and sub-factors for the evaluation of any system. It is found that efficiency, effectiveness, satisfaction, learnability, and safety are the most important factors to be considered for evaluating any haptic system. It also highlights sub-factors that have consistent relationship with these important factors. Furthermore, this work strengthens the available literature related to usability evaluation that mainly focuses on efficiency, effectiveness, satisfaction, and learnability for the evaluation of a system independent of any domain.