The 7 Principles of Universal Design emerged from the built environment, but things have moved on since the 1990s. The 8 Goals of Universal Design were devised to be more practical. They emerged out of work carried out to link the concepts with the World Health Organisation’s, International Classification of Functioning, Disability and Health (ICF).
For anyone interested in ICF related research, Universal Design Guidance and the ICF demonstrates how universal design can be applied to develop design guidance standards. It uses a set of linking rules together with related classifications to represent the interaction of human functions, activities, and environmental factors.
See also a slideshare of Steinfeld and Danford’s crosswalk of UD principles with the ICF. It shows the process they went through to translate the 7 Principles of Universal Design to the 8 Goals of Universal Design, as well as relating them to universal design and the ICF. All other references have been removed except a review of the ICF conference which includes Ed and Scott’s paper.