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This scoping review explored the extent to which HAI is included in studies investigating social connectedness, specifically social isolation and loneliness, and if HAI bolsters healthy aging through increased perceived support. Following the PRISMA-ScR protocol, data from 58 articles were thematically categorized, identifying (a) existing inclusion of HAI; (b) definitions and descriptions of HAI; and (c) the relationships between HAI and loneliness outcomes, in social connectedness research. Studies including HAI (animal companions and animal-assisted interventions) have increased over time; many noting protection against loneliness and few noting health detriments. Older adults overwhelmingly consider interactions with companion animals as meaningful relationships, whether living at home or in care. 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