A walking exercise device is disclosed, which allows a user to move through normal walking motions while lying supine in a position of reduced (preferably no) axial gravitational loading on his spine. The device permits prolonged walking without the limitations of spinal vibration and stress and of foot fatigue. Pivoting arm and leg supports are mechanically linked such that the opposing pairs of limbs move in a counter motion to each other as in normal walking. These movements are performed with the assistance of a flywheel to control the walking pace or to provide adjustable resistance against which the user must exert himself. Hinges or a knee flexure roll may be provided to flex the knees and provide foot stroke during each step. The device may be operated by the user's own exertions or may be motor driven for use by infirm persons. Spinal massage mechanism and head and neck traction devices which may be operated simultaneously are also disclosed.