The use of robots for care and rehabilitation has been attracting attention within the declining birthrate and aging population. In our laboratory, we tried to maintain motor function of the elderly using small humanoid robot. Through this activity, we made sure that a robot has an effect promoting eagerness to do gymnastics. Therefore we developed a gymnastics support system including a robot presenting gymnastics, a motion sensor and user interface device. In this research, we propose a method for evaluation of gymnastics using three dimensional points and orientations obtained from a motion sensor. And we report a result of evaluation of gymnastics by university students and the elderly staying in a geriatric health service facility, using gymnastics support system.
