In the rehabilitation training for stroke survivors, patients sometimes request training through riding a bicycle. However, sufficient space and therapists are required for the rehabilitation using bicycle. To solve these problems, a bicycle simulator for stroke rehabilitation has been developed. The system consists of a bicycle, a control computer, a visual system and a sound system. It can provide simulated traffic environment to the user and he/she can pedal on the bicycle in the virtual world for motor and cognitive functional training. Rehabilitation training on the bicycle simulator is not only to achieve functional recovery but also to improve patient's quality of life and independent life by ensuring the transportation.