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Lynn Naven from the Glasgow Centre for Population Health agrees that there is a lack of awareness around entitlement.
Trusted professionals helping people helps remove the stigma, she adds.
Chris Goulden from the Joseph Rowntree Foundation concurs and points out there are no stats yet on the uptake of Universal Credit.
Tory MSP Jeremy Balfour wonders if take-up is lower due to a lack of awareness, because the claim process is too difficult or because of stigma.
Lesley Newton from Inverness, Badenoch and Strathspey Citizens Advice Bureau (CAB) says all three will play some part, explaining she often helps people know what they are entitled to but even that requires them to have contacted the CAB in the first place.
People with mental health issues find it particularly challenging to get benefits, she adds.
The Social Security Committee will shortly take evidence on benefit take-up.
MSPs will quiz:
Image source, PA/GettyWelcome to Holyrood Live's coverage of the Scottish Parliament on Thursday 5 September 2019.
We begin with coverage of the Social Security Committee as it takes evidence on the uptake of benefits.
First minister's questions is at noon, with Nicola Sturgeon to face questions from Jackson Carlaw, Richard Leonard and Patrick Harvie.
Then SNP MSP Kenneth Gibson leads a debate on Doors Open Day 2019.
After lunch, transport portfolio questions takes place.
This will be followed by a statement on tackling drug deaths.
Finally, the Scottish government leads a debate on avoiding a no-deal Brexit.