We are creating innovative textiles that are inspired by an understanding of human biomechanics and anatomy. These wearable garments provide means to transmit assistive torques to a wearer’s joints without the use of rigid external structures. In order to obtain high-performance soft exosuits, some considerations should be taken into account in the design process. Exosuits should attach to the body securely and comfortably, and transmit forces over the body through beneficial paths such that biologically-appropriate moments are created at the joints. In addition, these garments can be designed to passively (with no active power) generate assistive forces due to the natural movement of the wear for particular tasks. A key feature of exosuits is that if the actuated segments are extended, the suit length can increase so that the entire suit is slack, at which point wearing an exosuit feels like wearing a pair of pants and does not restrict the wearer whatsoever.