To improve the way humans are interacting with robots various factors have to be taken into account. An evaluation framework for Human-Robot Collaboration with humanoid robots addressing usability, social acceptance, user experience, and societal impact (abb. USUS) as evaluation factors is proposed (see figure 1). The theoretical framework USUS is based on a multi-level indicator model to operationalize the evaluation factors. Evaluation factors are described and split up into several indicators, which are extracted and justified by literature review. The theoretical factor indicator framework is then combined with a methodological framework consisting of a mix of methods derived and borrowed from various disciplines (HRI, HCI, psychology, and sociology). The proposed method mix allows addressing all factors within the USUS framework and lays a basis for understanding the interrelationship of the USUS Factors.