An upper limb training apparatus for training the upper limb of a trainee includes a fixed frame, a movable frame, a tilting resistance applying mechanism, an operation rod, and a Z axis motor. The fixed frame can be placed on a floor surface. The movable frame is supported by the fixed frame to be able to tilt in all directions from a first tilting center. The tilting resistance applying mechanism applies resistance to the tilting action of the movable frame. The operation rod is attached to the movable frame, and is operated by the trainee by hand. The operation rod can extend and contract in the vertical direction toward or away from the floor surface. The Z axis motor is arranged in a position closer to the floor surface than the first tilting center, and extends and contracts the operation rod.
