Due to demographic change and transformations in domestic structures as well as working environments, the need for formal care continues to increase. This process leads to a significantly greater number of care workers that will be needed in the future. Concurrently, the demands on caregivers concerning the amount of care and quality of care are increasing. Socially-assistive robots (SARs) are a promising resource in this regard. At the same time, research that directly addresses the target group of elderly persons with cognitive impairments is underrepresented. This study reports observations regarding the interaction between a SAR and elderly people with cognitive impairments. Seven observational and behavioural measures were conducted during the interaction between residents of a nursing home and the SAR named “James”. Twelve participants from two residential homes took part in the study. Data were analysed by using content analysis and interpreted along a technology acceptance model. Verbal comments and observable emotions of the SAR were predominantly positive, only a few participants reacted negatively to the SAR “James”. There was also hardly any shyness to touch the robot. The participants made eye contact and responded adequately to the robot’s requests. Tasks which were set by the SAR in group settings led to a higher communication between the participants than tasks in single-user settings. The mainly upbeat emotions and interaction with the SAR indicates a positive attitude towards the system. Long-term studies are needed to investigate the sustainability of robot acceptance.