Motion training apparatus

A motion training apparatus, comprising:

• an operation unit configured to be movable in an XY plane;
• a drive unit including an X-axis direction drive motor and a Y-axis direction drive motor, and configured to drive the operation unit in the XY plane;
• a force sensor configured to detect a force Fx in an X-axis direction and a force Fy in a Y-axis direction acting on the operation unit from a user operating the operation unit;
• and
• a controller configured to control the X-axis direction drive motor and the Y-axis direction drive motor,
• wherein the controller controls the X-axis direction drive motor and the Y-axis direction drive motor so that, when a magnitude of a resultant force F0 of the force Fx in the X-axis direction and the force Fy in the Y-axis direction detected by the force sensor is within a predetermined range, the operation unit moves along a predetermined trajectory, and when the resultant force F0 exceeds the predetermined range, the operation unit moves from a current position in accordance with a first speed vector having a magnitude for directing the operation unit from the current position to a subsequent target position on the predetermined trajectory and a second speed vector having a magnitude based on the magnitude of the resultant force F0.