Provided is a training device capable of executing a plurality of operation modes, in which an operation rod is appropriately operated according to an operation mode. The training device includes the operation rod, a plurality of motors, a plurality of force detection units, and a plurality of first command calculation units. The operation rod allows a limb to move. The plurality of motors operate the operation rod in the direction of degree of freedom in which the operation rod can move. Each of the force detection units detects a corresponding force component and outputs a force component signal. The first command calculation units are connected to the corresponding force detection units. Each of the first command calculation units calculates a first motor control command on the basis of the corresponding force component signal.