Socially assistive robots (SARs) have shown great promise in supplementing and augmenting interventions to support the physical and mental well-being of older adults. However, past work has not yet explored the potential of applying SAR to lower the barriers of long-term low vision rehabilitation (LVR) interventions for older adults. In this work, we present a user-informed design process to validate the motivation and identify major design principles for developing SAR for long-term LVR. To evaluate user-perceived usefulness and acceptance of SAR in this novel domain, we performed a two-phase study through user surveys. First, a group (n = 38) of older adults with LV completed a mailed-in survey. Next, a new group (n = 13) of older adults with LV saw an in-clinic SAR demo and then completed the survey. The study participants reported that SARs would be useful, trustworthy, easy to use, and enjoyable while providing socio-emotional support to augment LVR interventions. The in-clinic demo group reported significantly more positive opinions of the SAR’s capabilities than did the baseline survey group that used mailed-in forms without the SAR demo.