An upper limb training apparatus (1) comprises a frame (10), an operation rod (15), and a tilting operation force detecting mechanism (14). The operation rod (15) is supported by the frame (11) such that the operation rod (15) can tilt in all directions. The operation rod (15) is operated by a trainee (T) by hand. The tilting operation force detecting mechanism (14) is disposed between the frame (11) and the operation rod (15), and includes a load member (42) and a vector detecting section (39). The load member (42) is displaced and generates a predetermined elastic resistance force corresponding to the tilting amount regardless of the tilting direction when the operation rod (15) is tilted. The vector detecting section (39) can detect tilting operation force and the tilting direction of the operation rod (15) applied to the operation rod (15) due to the displacement of the load member (42).
