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This paper we propose a new rehabilitation training support system of upper limbs with the teaching/training function for personalized rehabilitation. The proposed teaching/training function enables the therapists to easily make not only training trajectories but also training programs to suit the individual needs of the patients. It is shown in this paper that three kinds of training programs requested by therapists can be made by using the teaching/training function. The algorithms of the teaching/training function are based on impedance control and data preprocessing. The availability of the teaching/training function is verified experimentally.