In this study, underwear-type robotic pants were developed for gait assistance. Compared with traditional rigid exoskeletons, the proposed pants involve a functional multilayered fabric that enhances both functionality and comfort. Two prototypes were created using a fabricated two-layered fabric designed to optimize routing lines that mimic the human musculoskeletal system, with the fabrics strategically placed on each leg area. The performance of the fabricated fabric was evaluated using International Organization for Standardization standards, and the functionality and wearability of the pants were assessed through electromyography (EMG), heart rate (HR), and motion analysis. A user satisfaction survey was conducted to evaluate various pants-related aspects, including comfort, design, and fit. The results indicated that in the ON state of the involved actuator, the EMG and HR values decreased compared with those in the OFF state, leading to improved gait stability.
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