A tapered cylinder "gravity gym" with adjustable angled walls, and variable speed spinning, could smoothly create much greater "gravity".
Spin gravity would also enable body weight exercises, core exercises, stationary or small area cardio like exercise bikes, VR games, yoga, etc. Even sleeping.
EDIT: I missed this:
> but Moon-based centrifuges allowing locomotion inside would pose technical challenges
Still think it will be inevitable. Far more useful physically and psychologically. "Spinning surface" is a simple challenge, compared to "low-g health deterioration" and "bored to death of running in circles".
Equipment like this might resolve issues with off-world childbearing. Time to "spin up" some space rabbits and see what we get! (Hopefully not tribbles.)
Spin areas will surely become ubiquitous in all low gravity colonies.
Startup anyone?