We have developed a robot that voice-casting during the rehabilitation considering the emotion of the people. Firstly, we have discussed how to motivate rehabilitation by grasping the feelings of the patient and speaking from the results as it is called 'supportive voice is important'. As a method of grasping the patient's feelings, emotional analysis using biometric information was decided. Biological information is activity information of the body unconsciously issued by a person. Several methods for identifying emotion using such information has been proposed. In the research, we conducted emotional estimation using a pulse sensor to acquire the feelings of the person in motion, and designed and implemented a voice-casting robot that makes voice calls. As a result, it was possible to confirm the effectiveness of a voice-casting robot that performs supportive actions while using emotions.