A wearable assistive device, e.g. an exoskeleton, having a posture controlled depending on different modes of an adaptive and/or rehabilitative device on which the exoskeleton is supported, is disclosed herein. The exoskeleton may include a main controller to automatically control the posture depending on 'a moving mode', 'a wearing mode', and 'a storage mode' of the adaptive and/or rehabilitative device. An operation mode may be determined depending on a height change or a movement of the adaptive and/or rehabilitative device, and an operation of a drive based on whether the exoskeleton contacts a ground may be controlled.
