The introduction of robots in the real world requires
previous evaluation of the envisaged performance. Factors like
usability, user experience, social acceptance or societal impact
among others have been taken into account in evaluation frame-
works defined during the last years. However, one of the most
important factors that needs to be evaluated in any kind of
interaction is whether all the users are able to work with the
system with the same opportunities and easiness, and none of the
current Human-Robot Interaction (HRI) evaluation frameworks
include this factor yet. This paper proposes an extension of
a popular HRI evaluation framework, including accessibility
as a new evaluation factor. The proposed approach, named
AUSUS, considers Accessibility, Usability, Social acceptance, User
experience and Societal impact. This paper presents a use case
of the framework, which is evaluated through a socially assistive
robotic platform created to perform Comprehensive Geriatric
Assessment: the CLARC - system. The details of the evaluation
process in a hospital and a retirement home are reported and
the main difficulties and recommendations of using AUSUS are
discussed.
