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 frameworks defined during the last years. However, one of the most important factors that need 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 article 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 article 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.

The use of social assistive robots for interactive stimulation has strong potential in neurorehabilitation therapies. It is of particular interest in the case of pediatric patients to promote children’s motivation and adherence, specially when those robots are able of guide gamified activities, as it is the case of NAOTherapist. NAOTherapist is a Social Assistive Robotics (SAR) platform for hands-off rehabilitation based on upper-limb activities, that was originally designed for pediatric patients with Cerebral Palsy (CP) or Obstetric Braxial Plexus Palsy (OBPP). Formerly, it endowed the therapists with tools to perform rehabilitation exercises. This paper proposes the gamification of NAOTherapist in order to incorporate additional characteristics which allow its intensive use in new rehabilitation procedures, such as the Hand-Arm Bimanual Intensive Therapy (HABIT). This intensive therapy setting involves daily activities in several consecutive days, which require a strong engagement of the patients with the therapeutic methods and the acceptation of the NAOTherapist as a rehabilitation system. The gamified system shows very accurate results considering the different aspects defined in the USUS methodology; namely Usability, Social acceptance, User experience and Societal impact.

One of the claims of Automated Planning is the advantage of representing planning tasks in a high-level language where there is a correspondence between the real environment and the problem being modelled. However, under certain circumstances some re