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When I'm the instructor for the course, I remind them of the time and location of my office hours by writing it on the board at the beginning of every lecture (if you're not the instructor, you can ask the instructor to do this). It sounds like overkill, but in my experience part of the reason students don't attend office hours is because it's just not a salient option to them.

I also find that attendance is much higher before an assignment or test. If there's a weekly assignment due on Friday, say, choosing to hold your office hours on Wednesday or Thursday will probably result in higher attendance than holding them on Monday.

Perhaps most importantly, some students don't attend office hours because they're embarrassed. This is the main reason why I typically didn't attend office hours as an undergraduate (a fact I regret to this day). Although in office hours the students don't have to contend with feeling stupid in front of too many of their peers, they are, on the other hand, less able to "melt into the crowd". A lot of students feel that to attend office hours they have to have "good" questions prepared, so if they're too confused or have fallen too far behind, they won't go.

How to counteract this? I try to be as open and explicit about it as possible. I say things to the class like, "If you're so confused you don't even know what question to ask, then office hours are for you. Chances are you're not alone," or, "You don't have to come to office hours with specific question; you can just come and tell me you're confused about a particular section."

Finally, depending on your grading scheme, the following can be a very effective inducement to attend office hours: I will work through and explicitly solve homework questions in office hours. More precisely, I work through specific questions that I'm asked to on the board, with involvement from the students, regardless of whether they're on the homework or not. Thus, students who attend office hours will almost certainly do better on the homework. I don't mind doing this because I view the assigned homework as an inducement to practice more than a way of assessing skill, and if students put in the time during office hours, that ought to count as practice.