In an upper limb training apparatus (1), an exterior cover (18) covers a first gimbal mechanism (30) and a second gimbal mechanism (40) such that they are not exposed. The exterior cover (18) includes a first moving cover (201), a fixed cover (205) fixed to the fixed frame (11), and a second moving cover (202). The first moving cover (201) is fixed to the operation rod (15) such that the first moving cover (201) moves together with the operation rod (15). The second moving cover (202) is fixed to the movable frame (12) such that the second moving cover (202) moves together with the movable frame (12). The second moving cover (202) is arranged between the first moving cover (201) and the fixed cover (205) so as to be able to move relative to both of the first moving cover (201) and the fixed cover (205).
