This paper systemically reviews and clarifies the state-of-the-art HRI evaluation studies especially for the usability of social robots. A total of 36 articles were collected through a keyword, abstract, title search from various online search engines. Afterwards, 163 measures were selected and reviewed carefully. This research was classified into two parts. In the first part, evaluation methodologies were investigated according to (1) type of stimuli on evaluation, (2) evaluation technique, and (3) criteria of participants. In the second part, assessment measures were collected and the model of attitude towards a social robot is proposed. As a result, this study suggests practical strategies for selecting appropriate methods and measures that meet specific requirements of research. The proposed hierarchical structure of assessment measures is expected to contribute to both practical use and academic use.

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