As part of nursing care, there is physiotherapist’s physical exercise recovery training (walking training, etc.), which is aimed at restoring athletic ability that is called rehabilitation. In rehabilitation for the practitioners, there is a problem that it is difficult to maintain motivation trough their work. In this paper, we propose “voice-casting robot” that provides support for guide the route of the practitioners and to main their motivation, select the appropriate phrase for voice-casting based on the emotion estimation with pulse sensor’s data analysis result of them. The previous voice-casting robot was not considered the arousal revel of arousal, and would not obtain the effectiveness. In this study, we consider the arousal degree of the rehabilitation, and the effect measurement of performing the corresponding vocalization. As a result, it was suggested that it is more effective to consider the degree of arousal and to make a voice-cast than to the case of voice-cast only when negative valence.