I, like some other people, had the problem with my Petzl foot ascender popping off my foot unexpectedly when I first started learning to climb. The fact that I could not rely on it caused me to buy a CMI foot ascender, which I like much better. I ended up just putting the Petzl foot ascender into one of my storage boxes and never using it, until I read about the HAAS. So I decided to try using the Petzl foot ascender as a knee ascender, just so it would not go to waste. It's very crude, but I just tied some webbing strap onto one of the Petzl straps to create a foot loop, and tied some bungee cord onto another strap for the top part of the equation. It will pop off once in awhile if it's not oriented properly, but I don't mind it as much as when it happens when used as a foot ascender. It's more of a supplemental thing now, and I like it.
I still don't have the rope walker thing dialed in yet; I do more of a "sit-stand" style of climbing right now. I keep trying, though. I just recently stitched together a webbing strap that fits almost too tightly around my chest. I still need to add the shoulder straps. I'm hoping when it's done that it will work to hold me in tight to the rope and enable me to do the "rope walker" successfully. Up to now, I always seem to hang back from the rope too far, and it takes too much energy pulling myself in with my arms to have it feel comfortable. Certain other people make it all look so easy. (Randy, I'm talking to you!) I'll get it one of these days.
Tim