Training apparatus comprising: - at least one hydraulic actuator including a movable element and a housing provided with at least one inner cavity configured to be filled with a fluid, the movable element having at least one outer part and at least one inner part mechanically joined to the at least one outer part, the at least one outer part being arranged outside the housing and configured to be moved by a user in a first direction and/or a second direction opposite the first direction, the at least one inner part being movably arranged inside the at least one inner cavity of the housing and configured to be pushed by the fluid when moved in the first direction and/or to push the fluid outside the at least one inner cavity when moved in the second direction, wherein at least one of the inner cavities comprises a cavity port suitable for fluid flow, - a hydraulic device including two device ports suitable for fluid flow and a device shaft configured to bidirectionally rotate through its longitudinal axis, wherein the hydraulic device is configured to convert hydraulic pressure and/or flow received at any of the device ports into torque and/or rotation of the device shaft and vice versa, and wherein at least one of said two device ports is in fluid communication with said at least one cavity port of the at least one hydraulic actuator, - a bidirectional electric motor and a control unit, the electric motor having a rotary part mechanically coupled to said device shaft in a way that their longitudinal rotation is transferred from one to the other and wherein the control unit is electronically linked to the electric motor and configured to control the rotation dynamics of the rotary part, characterized in that the at least one hydraulic actuator is a rotary vane actuator, the at least one inner cavity of the rotary vane actuator being defined by a circular sector and the at least one inner part being defined by a rotating lever configured to rotate through an axis located at the circular sector centre. - at least one hydraulic actuator including a movable element and a housing provided with at least one inner cavity configured to be filled with a fluid, the movable element having at least one outer part and at least one inner part mechanically joined to the at least one outer part, the at least one outer part being arranged outside the housing and configured to be moved by a user in a first direction and/or a second direction opposite the first direction, the at least one inner part being movably arranged inside the at least one inner cavity of the housing and configured to be pushed by the fluid when moved in the first direction and/or to push the fluid outside the at least one inner cavity when moved in the second direction, wherein at least one of the inner cavities comprises a cavity port suitable for fluid flow, - a hydraulic device including two device ports suitable for fluid flow and a device shaft configured to bidirectionally rotate through its longitudinal axis, wherein the hydraulic device is configured to convert hydraulic pressure and/or flow received at any of the device ports into torque and/or rotation of the device shaft and vice versa, and wherein at least one of said two device ports is in fluid communication with said at least one cavity port of the at least one hydraulic actuator, - a bidirectional electric motor and a control unit, the electric motor having a rotary part mechanically coupled to said device shaft in a way that their longitudinal rotation is transferred from one to the other and wherein the control unit is electronically linked to the electric motor and configured to control the rotation dynamics of the rotary part,