We have developed an assistant robot "TAIZO" for rehabilitation exercises for seniors that is a set of exercises to help rehabilitation of the elderly with some disability. TAIZO is 70 cm tall and has 26 degrees of freedom with a familiar appearance, and can be operated easily by a senior instructor of the exercises through speech recognition and a remote controller. TAIZO can execute about thirty kinds of the exercises and talk with the instructor and the elderly. The robot has been applied to help the instructor of the exercises, and it has been observed that the robot can increase the motivation of seniors to learn the exercises.