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Cooperative work with Keio University has resulted in the development of a machine for exercising the hip and knee joints of stroke patients to recover their walking function. The Therapeutic Exercise Machine (TEM) has two mechanical arms to move the lower extremity of a stroke patient. The arms of the exercise machine are driven by electric motors and are controlled by a computer by means of load sensor information. The sensing and feedback control of force information is a problem for conventional machines and ultimately the therapist using the machine. TEM has the ability to be used as a training machine with embedded therapist techniques as well as the ability to monitor the patient’s condition during an exercise session. The machine has the following new features: wide range of motion, compliant motion, direct teaching, and measurement functions. The effects of TEM have been evaluated on its compliant motion against impulsive load and the short‐term effects of a continuous passive range of motion exercise in spastic patients.