Aging in place policy gives the chance for a fragile population for longer functioning in their environment. The main objective of the RAMCIP project was to introduce the robotic assistant in helping the elderly patient with memory impairments due to MCI or Alzheimer disease in fruitful and safe everyday functioning. This study summarizes the undertaken steps of human–robot interaction evaluation performed in a semi-structured environment. The quantitative (User Experience Questionnaire, AttrakDiff) and qualitative measures of assessment were introduced within different groups (end-users, medical professionals, and the general public). RAMCIP acceptability by an elderly person and the general public was confirmed, establishing the main crucial functionalities and their impact on HRI assessment. Keywords: Mild cognitive impairment (MCI)Alzheimer disease (AD)human–robot interaction (HRI)robotic assistant (SAR)