The cushion, the upper extremity function training device, the simple ankle plantar flexion and knee extension and flexion training devices, the flexible leg brace, the RAKU walker and the shower chair combination Raku walker with stoppers to get over a step with the slides were developed and used. By using these devices, the movement of the functioning extremity accompanies the movement of the impaired extremity. The painless motivative exercise improves the impaired extremity with extension of the range of motion or ROM instead of the passive exercise. Disabled bedridden patients who were adapted for ROM exercise depending on own general conditions were taken out to the training room by using the wheelchair. Passive exercise on mats as ROM exercise in the training room has been never done for them. The motivative exercise reinforces the muscle force of trunk and extremities and extends gradually ROM of the knee and foot by one’s own pace without pain. 59 people in 193 inpatients have acquired walking from bedridden by the rehabilitation that was based on the motivative exercise.