The purpose of this study was to determine the characteristics of each joint's movement in different positions of upper limb training device in healthy adult males. Fifteen healthy adult males performed an anterior reach task using an upper limb training device in a sitting position. The control stick was set at 0 cm, 10 cm, and 20 cm from the right toe. Joint movements of the elbow, trunk, and pelvis were measured on a three-dimensional motion analysis. The range of motion during the task was significantly smaller at 10 cm and 20 cm than at 0 cm at the elbow. In the trunk, it was significantly larger at 10 cm and 20 cm compared to 0 cm. It was suggested that the reaching motion with the upper limb training device requires more elbow movement when the distance of the control stick is close and more trunk and pelvic movement when the distance is far without changing the timing of each joint movement.