We developed a device that promotes walking which uses a two-dimensional emotion map for the exercise of the elderly. This map was made with two axes, the horizontal axis was pleasant or unpleasant, with the vertical axis being arousal or not, same as the circumplex model of affect (J. A. Russell (1980)). This device has two means to promote walking. One is an ankle joint assistance system, which consists of a servo motor and a controller which can adjust the targeted walking cycle, the targeted angle of the ankle joint, and the sensitivity of the sensors which was attached under the sole. The other is a beat listening system. The beat listening system makes the beat sound, which is decided for the purpose of the user, and based on the walking cycle. The user listens to the beat sound using head phones. By combining and using these two means simultaneously, users can change their gait and emotion, therefore, they can continue to walk for a long time.