An adaptive assistive and/or rehabilitative device, comprising: an upper support having an transport handle for pushing or pulling by an assistant from an assistant side of the upper support and at least one walker handle having a bar shape provided in at least one handle housing, the at least one walker handle configured to be withdrawn from the at least one handle housing by the user for pushing or pulling the adaptive assistive and/or rehabilitative device from a user side of the upper support, wherein the at least one handle housing is partially provided on the assistant side, and the user and assistant sides are opposite sides of the upper support; and a lower support provided below and coupled to the upper support to support the upper support, wherein the at least one handle housing includes first and second handle housings provided at first and second ends of the upper support, the first and second ends being opposite ends, wherein the upper support includes a main frame for supporting the wearable assistive device on the user side of the upper support, and the first and second handle housings are provided at the main frame, wherein the main frame comprises: an outer wall having a U-shape surrounding the main frame; an inner wall having a shape corresponding to the outer wall; at least two side walls coupling the outer wall to the inner wall;, at least one leg support formed adjacent to the inner wall and the side wall; a lower plate coupling lower sides of the outer and inner walls and; and an upper plate coupling upper sides of the outer and inner walls and, wherein each side wall comprises a support portion comprising a contact groove for supporting, in use, a wearable assistive device with an actuated hip joint of the wearable assistive device being hangable on the contact groove. an upper support having an transport handle for pushing or pulling by an assistant from an assistant side of the upper support and at least one walker handle having a bar shape provided in at least one handle housing, the at least one walker handle configured to be withdrawn from the at least one handle housing by the user for pushing or pulling the adaptive assistive and/or rehabilitative device from a user side of the upper support, wherein the at least one handle housing is partially provided on the assistant side, and the user and assistant sides are opposite sides of the upper support; and a lower support provided below and coupled to the upper support to support the upper support, wherein the at least one handle housing includes first and second handle housings provided at first and second ends of the upper support, the first and second ends being opposite ends, wherein the upper support includes a main frame for supporting the wearable assistive device on the user side of the upper support, and the first and second handle housings are provided at the main frame, wherein the main frame comprises: an outer wall having a U-shape surrounding the main frame; an inner wall having a shape corresponding to the outer wall; at least two side walls coupling the outer wall to the inner wall;, at least one leg support formed adjacent to the inner wall and the side wall; a lower plate coupling lower sides of the outer and inner walls and; and an upper plate coupling upper sides of the outer and inner walls and, wherein each side wall comprises a support portion comprising a contact groove for supporting, in use, a wearable assistive device with an actuated hip joint of the wearable assistive device being hangable on the contact groove. an outer wall having a U-shape surrounding the main frame; an inner wall having a shape corresponding to the outer wall; at least two side walls coupling the outer wall to the inner wall;, at least one leg support formed adjacent to the inner wall and the side wall; a lower plate coupling lower sides of the outer and inner walls and; and an upper plate coupling upper sides of the outer and inner walls and, wherein each side wall comprises a support portion comprising a contact groove for supporting, in use, a wearable assistive device with an actuated hip joint of the wearable assistive device being hangable on the contact groove.