Effective feedback is vital for improving motor skills, exercise techniques, and motivating physical activity (PA). While haptic feedback and socially assistive robots (SARs) have been individually studied to enhance exercise experiences, their combination is less explored. This study evaluated the effectiveness of haptic feedback via a vest and auditory-visual feedback from a SAR in improving squatting techniques. Ten healthy participants performed squats under three conditions: haptic feedback, robot feedback, and combined feedback. Although no significant differences were found between the two modalities, participants valued both. Haptic feedback provided immediate, intuitive guidance, while the SAR offered motivational and engaging interactions. The combination appeared to have a synergistic effect, enhancing confidence and performance. These findings highlight the potential of integrating haptic and SAR feedback for exercise coaching and support further research to refine interactive systems in physical training.