We present a study with an autonomous Socially Assistive Robot (SAR) coach that investigates the effect of comparative feedback given by a SAR on the self-efficacy of individuals post-stroke in a seated reaching task. We compare two types of feedback, self-comparative and other-comparative, against a control of no comparative feedback, with 23 participants post-stroke. We find that participants receiving other-comparative feedback have significantly more delay time on the task than participants receiving self or no comparative feedback. In addition, we demonstrate that participants show task performance improvement over time, and provide responses to self-efficacy probes that vary along several dimensions.
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