A training apparatus includes an operating rod, a strength detector, a motion position detector, a strength speed calculator, a boundary line arrival speed calculator, and a motion speed calculator. The operating rod moves a held limb. The strength detector outputs a strength component signal based on a magnitude of a strength component. The motion position detector detects a motion position of the operating rod. The strength speed calculator calculates a strength speed. The boundary line arrival speed calculator calculates a boundary line arrival speed whose absolute value is smaller as a boundary line distance is shorter. The motion speed calculator calculates a lower one of the strength speed and the boundary line arrival speed as the motion speed at which the operating rod should move.
