Abstract: An exercise apparatus comprises a variable speed rotary driving device which generates a torque having a magnitude dependent on its speed of rotation; an adjustable speed control which controls the speed of rotation of the rotary driving device; an exercise element, mainpulable by a user; and a torque transmission which transmits torque from the rotary driving device to the exercise element so as to resist manipulation of the exercise element and to allow for lost motion between the rotary driving device and the exercise element. The torque transmission transmits torque, from the rotary driving device to the exercise element, of a magnitude substantially independently of the motion of the exercise element and dependent upon the speed of rotation of the rotary driving device.