Programmable Fabric‐Based Soft Pneumatic Actuators for Wearables: A Review

Fabric‐based soft pneumatic actuators (FSPAs) are gaining prominence as core components of advanced wearable systems. They integrate pneumatic deformation with the flexibility, breathability, and structural versatility of textiles. Through strategic material selection and fabrication methods, FSPAs enable programmable deformation modes, stiffness distributions, and force outputs. However, the interactions between design variables and actuation behaviors remain insufficiently clarified. This review systematically unifies the principles of FSPA programmability by examining fundamental actuation modes, design strategies, and modeling approaches. It highlights how channel, shell, and sensing materials guide deformation. Furthermore, the review analyzes how textile techniques such as knitting, weaving, and sewing enable tailored motion responses. Modeling methods that support performance prediction and optimization are also surveyed. Representative wearable applications in rehabilitation, assistance, and human–machine interaction are discussed. These examples illustrate how programmability enhances comfort, safety, and functional support. Finally, key challenges regarding constrained design spaces, control predictability and accuracy, and system‐level integration for wearability are identified, and future research directions are outlined to advance the design of programmable FSPAs for effective wearable robotic systems.