We have driven the researches on medical and rehabilitation systems which can contribute to the improvement of QoL (quality of life) for realization of healthy longevity society. Especially, on the basis of emerging motion control technology which can achieve flexible contact with human and environment and can physically support human activity, various novel systems such as innovative medical devices, surgery robots, rehabilitation robots have been developed. In addition, new actuators and sensors oriented to human support applications have also been researched. For the social implementation, we have promoted the medical-engineering collaborative research with local research affiliations such as Kanagawa Institute of Industrial Science and Technology (KISTEC) and Keio University.