Objectives. We summarized technology acceptance and the influencing factors of elderly people toward socially assistive robots (SARs). Methods. A scoping review whereby a literature search was conducted in Embase, Cochrane, Scopus, PubMed, and Web of Science databases (2006–2021) to retrieve studies. No restrictions on study methodology were imposed. Results. Out of the 1187 retrieved papers, 35 studies were finally included in the study. The articles covered various aspects, including general attitudes towards using SARs, technology acceptance theory models, and factors associated with technology acceptance. Twelve studies reported a positive attitude towards SARs. Three explicit theoretical frameworks were reported. Studies involving the elderly reported three themes that influence attitudes towards SARs: individual characteristics, concerns/problems regarding robots, and social factors. Conclusions. This review elucidates on the suitability of theory-based framework as applied to acceptance of SARs. We found that research on technology acceptance with regard to SARs is still in the developmental stages, and further studies of assessment tools for SARs are required. It is also essential to consider the factors that influence the acceptance of SARs by older people to ensure that they meet the end goal requirements of the user.