The employment of socially assistive robotics (SAR) is increasingly being considered a credible solution to support healthcare systems in dealing with an aging society. In this contribution, we explore the experience of older adults (n = 11) living in a residential facility with a cognitive training intervention conducted with the support of a SAR. Within the HORIZON2020 Project SHAPES, a mixed-method study has been conducted to collect preliminary evidence on users’ engagement and acceptance of the proposed SAR-based intervention. The results suggest that the SAR-based cognitive training intervention conducted was accepted by all stakeholders. Data on enjoyment of participants indicate that users did not experience a “novelty effect” of the proposed innovation, but longer sessions are needed to confirm this result.