An exercise device includes two cranks rotatably coupled to an upright support of a base, two handles pivotally coupled to the upright support, and two foot supports each having a front portion pivotally coupled to the pivot rod or an extended arm of the cranks with a link and each having a rear portion pivotally coupled to the rear portion of the base, and the lower portions of the handles are pivotally coupled to the foot supports to allow the moving stroke of the foot supports to be controlled by the handles. The handles may be pivotally coupled to the cranks with levers. A foot pedal may be pivotally supported on each of the foot supports and pivotally coupled to the handles.