I have this under my desk and it is honestly great. I have tried those cheap manual 'under desk' pedals and they raise your knees super high and are uncomfortable in a working desk postion. This does not, it barely raises my knees an inch above their resting position. It's comfortable and sturdy, feels very safe. I like the remote control so I don't have to hunch under the desk to mess with the settings.

https://www.amazon.com/gp/product/B08LZ33GSS/

Edit: Here's a pic of mine under my desk.
https://i.imgur.com/wjl5DkI.jpg