Balance training device and balance training method

A balance training device comprising:

• an inverted vehicle;
• a posture detection unit that detects a posture of the inverted vehicle, the posture changing according to a posture of an occupant riding on the inverted vehicle;
• a control unit that controls the inverted vehicle so that the inverted vehicle moves within a predetermined range according to the posture of the inverted vehicle detected by the posture detection unit and controls the inverted vehicle so that the inverted vehicle is forcibly moved in an arbitrary direction irrespective of the posture of the inverted vehicle;
• and
• a position determining unit that determines a position of the inverted vehicle, wherein
• when a distance between the position of the inverted vehicle obtained by the position determining unit and a reference position is greater than or equal to a threshold, the control unit suppresses only the control to forcibly move the inverted vehicle in a direction from the reference position to the position of the inverted vehicle when the control unit controls the inverted vehicle so that the inverted vehicle is forcibly moved in an arbitrary direction irrespective of the posture of the inverted vehicle.