In this paper we propose an effective motion learning method using feedback information from sensory nerves at rehabilitation for the people with movement disorder. We tried to verify the validity of the learning procedures using feedback information from a sensory nerve by constructing the computer modeling combining a motor nerve model and a musculo-skeletal model of walk-disabled people. This research will be a guideline at the development of intelligent power assistive system using FES or actuator for relatively severely handicapped people.