An upper limb training apparatus comprises an operation rod supported by a frame such that the operation rod can tilt in all directions. The operation rod is operated by a trainee by hand. A tilting operation force detecting mechanism disposed between the frame and the operation rod includes a load member that is displaced and generates a predetermined elastic resistance force corresponding to the tilting amount regardless of the tilting direction when the operation rod is tilted, and a vector detecting section that detects the tilting operation force and the tilting direction of the operation rod due to displacement of the load member.
