Smart textile actuators have garnered increasing attention owing to their versatile applications in soft robotics and wearable electronics. These actuators exhibit the capability to undergo controllable and reversible deformation in response to external stimuli such as temperature variations or electric potential. The latest evolution in smart textiles involves the integration of smart yarn- and fiber-actuators, as well as the incorporation of smart materials onto textile substrates. The underlying mechanics of the textile substrate play a significantrole in determining the overall performance of these actuators, offering opportunities to achieve intricate actuation modes effectively.

Moreover, the utilization of additive manufacturing techniques presents a promising avenue for the fabrication of these devices, enabling rapid customization and optimization of both active and passive material patterns to amplify their functionality. In this investigation, multi-layered PEDOTactuators were 3D printed on different textile fabrics using syringe-based extrusion, with the aim of investigating how different weave and knit patterns influenced actuation performance. Additionally, intricate patterns of passive materials were incorporated through printing methods, leveraging distributed compliance to program the movement capabilities of the actuators. This work sheds light on the interplay between textile substrate design, material composition, and fabrication techniques in enhancing the performance and functionality of smart textile actuators.