An exercise apparatus includes a frame that is adapted for placement on the floor, a pivot axis supported by the frame, a pedal bar which has first and second ends, a pedal that is secured to the pedal bar, an ellipse generator, and a track. The ellipse generator is secured to both the pivot axis and to the first end of the pedal bar such that the first end of said pedal bar moves in an elliptical path around the pivot axis. The track is secured to the frame and engages the second end of said pedal bar such that the second end moves in a linear reciprocating path as the first end of the pedal bar moves in the elliptical path around said pivot axis. Consequently, the pedal also moves in a generally elliptical path. As the pedal moves in its elliptical path, the angular orientation of the pedal, relative to a fixed, horizontal plane, such as the floor, varies in a manner that simulates a natural heel to toe flexure. The apparatus can also include a resistance member, a data input member, and a control member. The resistance member applies a resistive force to the pedal. The data input mechanism permits the user to input control signals. The control mechanism responds to the input control member to control the resistance member and apply a braking force to the pedal. In addition, the exercise apparatus can include an arm handle and an arm handle coupling assembly that couples the arm handle to the pedal such that the arm handle moves in synchronism with the pedal, and in some cases out of phase.