In an upper limb training apparatus, an exterior cover covers first and second gimbal mechanisms. The exterior cover includes a fixed cover fixed to a fixed frame, and first and second moving covers. The first moving cover is fixed to and moves together with an operation rod. The second moving cover is fixed to and moves together with a movable frame. The second moving cover is arranged between the first moving cover and the fixed cover so as to be able to move relative to both of the first moving cover and the fixed cover.
