We used the wrist one for our eldest DD, she never took it off, but we only used it until she was about 3, so she might not have been able to.
I saw someone at the airport once who had those dog leashes where you press the button to stop it getting longer, he had tied one to each kid at the back of the trousers (where the belt goes), maybe that would be an idea? That way they could run for a bit in open spaces like parks, and you could keep them close in shops and on the roads.
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