Iterative on three major phases: understand users, create a prototype, and evaluate the prototype.
This has to be done from the early stage of the design. Because even when designers attempt to consider human factors, they often complete the product design first and only then hand off the blueprint or prototype to a human factors expert to evaluate.
Task analysis is a broad term that encompasses many other techniques such as use cases, user stories, and user journeys. All of these techniques focus on understanding
Heuristic Evaluation is done internally, with 3 individuals inspect the design and identify if there is anything violating design principles, safety requirement, etc.
Then you can do cognitive walkthrough as well:
5 usability dimensions