In recent years, robotic device use has been enhanced many folds, but human–robot control interfaces (HRCIs) are not optimal from a user-centric design perspective due to a lack of consideration of human factors during their design and development. Operators face difficulties in the physical operation of such interfaces, leading to increased cognitive workload. The present review explores the state-of-the-art knowledge in the domain of HRCIs from a usability perspective to understand various ergonomic evaluation techniques used by earlier researchers. Articles pertaining to the research interest were searched from electronic databases (Scopus and Google Scholars), and the information gathered was presented under various headings following the PRISMA-ScR framework. The current review reveals that there is dearth of reported literature which deals with ergonomic design and evaluation of HRCIs. It is perceived that empirical studies are required on the usability of HRCIs to provide a guideline or framework for developing efficient and effective HRCIs.