A training device (100, 200, 300) for training user's upper and/or lower limb in accordance with a predetermined operation mode, the device comprising: an operation rod movably supported by a fixed frame so as to move the limb, the fixed frame being placed, in use, on or in the vicinity of a floor surface; a motor (135a, 135b) configured to drive the operation rod to operate in a direction of degree of freedom in which the operation rod can move, on the basis of a motor control command; a force detection unit (175, 177) configured to detect a force component of the force applied to the operation rod in the direction of degree of freedom in which the operation rod can move, and to output a force component signal based on a magnitude of the detected force component; a rotation information output sensor (135a-1, 135b-1) configured to detect an operation position of the operation rod in the direction of degree of freedom in which the operation rod can move, on the basis of a rotation amount of the motor; a force correction unit (3115a-7, 3115b-7, 3115c-7) configured to calculate a corrected force component value based on the operation position of the operation rod and the force component signal; and a first command calculation unit (3115a-1, 3115b-1, 3115c-1) configured to calculate a first motor control command as the motor control command for controlling the motor, wherein the first motor control command is calculated based on the corrected force component value, characterized in that the force correction unit is configured to calculate the corrected force component value based on a relationship between the operation position of the operation rod and a force correction value determined based on the operation position. an operation rod movably supported by a fixed frame so as to move the limb, the fixed frame being placed, in use, on or in the vicinity of a floor surface; a motor (135a, 135b) configured to drive the operation rod to operate in a direction of degree of freedom in which the operation rod can move, on the basis of a motor control command; a force detection unit (175, 177) configured to detect a force component of the force applied to the operation rod in the direction of degree of freedom in which the operation rod can move, and to output a force component signal based on a magnitude of the detected force component; a rotation information output sensor (135a-1, 135b-1) configured to detect an operation position of the operation rod in the direction of degree of freedom in which the operation rod can move, on the basis of a rotation amount of the motor; a force correction unit (3115a-7, 3115b-7, 3115c-7) configured to calculate a corrected force component value based on the operation position of the operation rod and the force component signal; and a first command calculation unit (3115a-1, 3115b-1, 3115c-1) configured to calculate a first motor control command as the motor control command for controlling the motor, wherein the first motor control command is calculated based on the corrected force component value, characterized in that the force correction unit is configured to calculate the corrected force component value based on a relationship between the operation position of the operation rod and a force correction value determined based on the operation position.