Wearable soft actuation systems for human–machine–environment interactions

Wearable soft actuation systems are at the forefront of promising human-centered technologies, capable of dynamic interactions among humans, machines, and the environment. Unlike rigid systems, soft actuators exhibit unique dexterity and mechanical compliance, prioritizing safety, comfort, dynamic responsiveness, and adaptivity, making them particularly appealing for wearable applications and human interactions. As the field progresses toward wearable and system-level integration, they are expected to harmonize human capabilities with machine augmentation and environmental demands. In this review, the state-of-the-art progress in wearable soft actuation systems has been systematically summarized. Starting from foundational insights into their mechanisms, materials, fabrication, and integration, we then discuss their diverse applications in the metaverse, assistance, biomedicine and rehabilitation, personal comfort management, and fashion aesthetics. Additionally, the outlook is proposed, which highlights existing challenges and prospective directions for potentially revolutionizing wearable soft actuation systems in the future.