The present invention is an exercise device of the rowing machine type, which may impose both flexion and extension forces against motion of a user with respect to the seat and/or arms of the exercise device. Rotation of the seat about a pitch axis may be provided to allow a user to impose forces against the seat pan more comfortably in opposition to seat travel flexion resistance, while rotationally free grips may allow the user to maintain proper orientation of the hands and wrists during exercise using the exercise device. Other improvements are discussed in the detailed description of the invention above.