I just use a leash and training lol well Misty I attach a 4 foot lead to her haltie, and I tire the handle of the leash in a certain way(cant describe it lol) on my handle bar its in such a way that it gives Misty enugh length without to much length, and it comes undone easy and gives my a perfect handle loop to stick my hand through so I still have control of her. she is also trained not to go to close to the bike or to pull of go ahead of the bike, I just stop and give a a talking for that lol and now she is well behaved, Happy trots leash free beside my bike, she is trained to trot always on the right had side of my bike, and right beside me at all times, she knows exactly how she is to bahave when I am biking. the reason is when she is on leash she will go after another dog she see's while I am on my bike, and she could end up huting both of us if that happens, however off leash I have perfect voice control over her, she knows the biking commands(over-move closer to the side of the road, out-move out toward the middle of the road to avoid glass or something) if I see another dog I just pull over grab her scruff and order her to leave it, in 3 years I have yet to have a problem with it lol of coarse I started only allowing her off the leash on the bike path, but on the way to the path it was like almost walking my bike the whole way because she would pull and would'nt listen to her voice commands. she is actually really good, she knows how she can behave where, on he road she is pn perfect obedience trotting in a perfect heel, stopping at cornors not crossing streets without my permission etc.. but on the bike path she is allowed to run around all over the place, there is no requirment of her running beside my bike lol its a really good way to reduce her energy and fast by the way! there are big circle in our path I will ride really fast around and around these circles and Happy has to try and keep up! lol within minuts that little energy spring is collapsed in the middle of the feild(all grass in the middle of the circle) staring at me still circling, lol