Rehabilitation following a stroke plays a crucial role in functional recovery and the regaining of independence. Advanced rehabilitation robots such as the Lokomat, C-mill, Rysen, and ZeroG have become integral tools for gait rehabilitation. The MATE (Minimally Actuated Tendon-based Exercise Environment) is a novel rehabilitation device that could offer a wider range of motion compared to the Lokomat while providing support for leg movement, unlike the C-Mill, Rysen, and ZeroG. However, initial testing on the MATE indicated that this passive tendon-based rehabilitation device lacks a proper connection to the wearer. Consequently, this study was conducted to design and evaluate an attachment model, ensuring that the pulling forces are comfortably transferred to the body and that the MATE fulfills its purpose of supporting and enhancing the natural gait. The study compared two user-centred attachment designs based on user experience, comfort, usability, acceptance, ability to follow the natural gait, and the difference in pulling forces on the legs. The findings revealed that the bandage design exerted greater control over the legs, while the cuff design provided more guidance. Additionally, it was observed that adhering to the user’s natural gait greatly influenced comfort and that walking with the MATE became easier with practice. Although the bandage design was preferred, the results suggest further iterations to enhance gait support, comfort, and usability.