As the importance of lifelong learning and recurrent education has been emphasized in recent years, it can be argued that people must study for the rest of their lives. Many people, however, find it difficult to engage in and maintain learning behavior, and adequate learning support is required for people to participate in and maintain learning. We developed a learning support system based on the learner's self-efficacy by the robot partner and explored its utility in this study to create an efficient learning support system by a robot partner. As a result, the proposed method's effectiveness was demonstrated by the fact that the proposed learning support system increased the learner's self-efficacy.