An exercise device for performing a variety of movement patterns is provided, having an upper link pivotally mounted to a lower leg link and a foot support on a distal end of the lower leg link. A first transfer system is movably coupled to a frame and including a first transfer member coupled to the first upper leg link and a second transfer member coupled to the second upper leg link, thereby enabling substantially reciprocating motion of the first leg link relative to the second leg link. A second transfer system is also provided and may be movably coupled to the frame and including a pair of third transfer members coupled to each of a pair of fourth transfer members by way of each of a pair of transfer couplings, each movably mounted to the frame. The fourth transfer members may be coupled to the first lower leg link and the second lower leg link, whereby movement of the first lower leg link causes movement of the second lower leg link irrespective of movement of the upper leg links thereby providing a stable platform for the user and also enabling an infinite number of gait patters by the user.