Haptic systems are widely used in different domains for various purposes such as rehabilitation, surgery, training, games, and industrial design. To improve the performance of haptic systems and users (using these systems), evaluation plays an important role. Experiments and user testing are common approaches to evaluate these systems. In this paper, an overview of haptic systems' evaluation and users' workload measurements is provided. It presents that the evaluation of these systems depends upon different aspects which include devices, haptic rendering algorithms, applications and users. In various studies, these aspects have been evaluated but are specific to different haptic devices and applications. This paper represents an overview of these aspects and highlights the need of generic techniques. We propose a preliminary conceptual framework that 1) may provide structured approach towards developing generic technique(s) and 2) can possibly help to evaluate haptic systems and user workload together. © 2010 IEEE.