An upper limb training apparatus for training limbs of a trainee, comprising: a fixed frame configured to be placed on a floor surface; a movable frame supported by the fixed frame such that the movable frame can tilt in all directions; an operation rod configured to be operated by the trainee by hand and attached to the movable frame such that the operation rod can extend and contract, the operation rod including an operation rod main body, and an attachment fixed portion attached to a top end of the operation rod main body and to which an attachment is fixed; an axial force detecting section configured to detect an axial force applied to the attachment fixed portion in the axial direction of the operation rod, the axial force detecting section further including an attachment member attached to the operation rod main body, an axial movement allowance member attached to the attachment member such that the axial movement allowance member can move in the axial direction, and an axial displacement detecting section (17a, 17b), and the axial displacement detecting section is configured to detect a position of the axial movement allowance member relative to the attachment member in the axial direction; the attachment fixed portion includes a resilient absorbing member configured to absorb forces in any directions other than the axial direction applied to the attachment fixed portion, the attachment member includes a main body attached portion to be attached to the operation rod main body, and a shaft portion provided on the main body attached portion, the axial movement allowance member includes a cylindrical portion slidably attached to the shaft portion, and an exterior portion covering the cylindrical portion and fixed to the main body attached portion, and the absorbing member includes a plurality of elastic members (94a, 94b), the elastic members (94a, 94b) being arranged between the cylindrical portion and the exterior portion and defining a predetermined gap between each other in an axial direction, and the elastic member (94a, 94b) includes a convolution spring (94a, 94b). a fixed frame configured to be placed on a floor surface; a movable frame supported by the fixed frame such that the movable frame can tilt in all directions; an operation rod configured to be operated by the trainee by hand and attached to the movable frame such that the operation rod can extend and contract, the operation rod including an operation rod main body, and an attachment fixed portion attached to a top end of the operation rod main body and to which an attachment is fixed; an axial force detecting section configured to detect an axial force applied to the attachment fixed portion in the axial direction of the operation rod, the axial force detecting section further including an attachment member attached to the operation rod main body, an axial movement allowance member attached to the attachment member such that the axial movement allowance member can move in the axial direction, and an axial displacement detecting section (17a, 17b), and the axial displacement detecting section is configured to detect a position of the axial movement allowance member relative to the attachment member in the axial direction; the attachment fixed portion includes a resilient absorbing member configured to absorb forces in any directions other than the axial direction applied to the attachment fixed portion, the attachment member includes a main body attached portion to be attached to the operation rod main body, and a shaft portion provided on the main body attached portion, the axial movement allowance member includes a cylindrical portion slidably attached to the shaft portion, and an exterior portion covering the cylindrical portion and fixed to the main body attached portion, and the absorbing member includes a plurality of elastic members (94a, 94b), the elastic members (94a, 94b) being arranged between the cylindrical portion and the exterior portion and defining a predetermined gap between each other in an axial direction, and the elastic member (94a, 94b) includes a convolution spring (94a, 94b).