ISO 9241-910:2011 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.