A training device (100, 200, 300) for training user's upper and/or lower limb in accordance with a predetermined training program, the device comprising: an operation rod movably supported by a fixed frame so as to move a limb, the fixed frame being placed, in use, on or in the vicinity of a floor surface; a plurality of motors (135a, 135b, 359) for driving the operation rod to operate in directions of degree of freedom in which the operation rod can move, on the basis of motor control commands, each motor is configured to move the operation rod around a corresponding axis of a plurality of axes (131a, 131b, 133a, 133b, 357) arranged at one end of the operation rod; a plurality of force detection units (175, 177) configured to detect force components of a force applied to the operation rod in the directions of degree of freedom in which the operation rod can move, and to output force component signals based on magnitudes of the detected force components; and characterised by a plurality of first command calculation units (1115a-1, 1115b-1, 1115c-1; 2115a-1, 2115b-1, 2115c-1; 3115a-1, 3115b-1, 3115c-1) connected to corresponding force detection units, wherein when executing a first operation mode in which the operation direction and the operation speed of the operation rod are determined based on a force applied to the operation rod, the first command calculation units calculate first motor control commands for controlling corresponding motors as the motor control commands, on the basis of the force component signals output from the corresponding force detection units, and output the first motor control commands to the corresponding motors (135a, 135b, 359). an operation rod movably supported by a fixed frame so as to move a limb, the fixed frame being placed, in use, on or in the vicinity of a floor surface; a plurality of motors (135a, 135b, 359) for driving the operation rod to operate in directions of degree of freedom in which the operation rod can move, on the basis of motor control commands, each motor is configured to move the operation rod around a corresponding axis of a plurality of axes (131a, 131b, 133a, 133b, 357) arranged at one end of the operation rod; a plurality of force detection units (175, 177) configured to detect force components of a force applied to the operation rod in the directions of degree of freedom in which the operation rod can move, and to output force component signals based on magnitudes of the detected force components; and characterised by a plurality of first command calculation units (1115a-1, 1115b-1, 1115c-1; 2115a-1, 2115b-1, 2115c-1; 3115a-1, 3115b-1, 3115c-1) connected to corresponding force detection units, wherein when executing a first operation mode in which the operation direction and the operation speed of the operation rod are determined based on a force applied to the operation rod, the first command calculation units calculate first motor control commands for controlling corresponding motors as the motor control commands, on the basis of the force component signals output from the corresponding force detection units, and output the first motor control commands to the corresponding motors (135a, 135b, 359).