In an example, a bed exercise system includes a foot pad and first and second elastic connectors. The foot pad includes a rigid support member. The first elastic connector has a first end coupled to a first lateral side of the foot pad and a second end for coupling to a support structure. The second elastic connector has a first end coupled to a second lateral side of the foot pad and a second end coupling to the support structure. When the second ends of the first and second elastic connectors are coupled to the support structure: (i) the foot pad is movable between a first position and a second position relative to the support structure, and (ii) a tension on the first elastic connector and a tension on the second elastic connector increases as the foot pad moves from the first position to the second position.