The simple answer is no, but you get accustom to it. Unlike full length aero bars, mini aero bars require some effort to stay on them because you rest the middle of your forearm on the pads instead of the elbows. I can use them without too much discomfort for about 10 minutes at a time before my arms begin to get tired.
It's more comfortable than keeping your arms bent 90 degrees while riding the hoods, but less comfortable than normal aero bars.
With that said, I'm actually thinking of picking up Control Tech's mini TT bars for my time trial bike:
