In an upper limb training apparatus, a movable frame is supported by a fixed frame placed on a floor surface such that the movable frame can tilt in all directions. An operation rod including an operation rod main body and an attachment fixed portion is attached to the movable frame and can extend and contract. The attachment fixed portion, to which an attachment is fixed, is attached to the tip of the operation rod main body and includes an elastic member that absorbs forces in any directions other than the axial direction relative to the operation rod main body. The axial displacement detecting section can thereby grasp just the axial force applied to the operation rod by detecting the displacement of attachment fixed portion in the axial direction.