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In this study, we aim at developing a mechanical device to support human rehabilitation motion of their wrist joint instead of a physiotherapist. Pneumatic parallel manipulator is introduced as a mechanical equipment from a view that pneumatic actuators bring minute force control property owing to the air compressibility and parallel manipulator's feature of multiple degrees of freedom is suitable for the complex motion of human wrist joint. To cope with the shortage of physiotherapist, we propose a method to acquire P.T.'s rehabilitation motion and implement it for a patient using the equipment. The validity of the proposed system is confirmed through some experiments.