Soft robotics, a rapidly growing field, has witnessed remarkable progress in diverse applications like wearable devices and mobile robots. Among these innovations, the development of soft lower extremity exoskeletons, known as soft wearable robotics, stands out as a challenging research topic requiring multidisciplinary expertise. In this context, the EU-funded SWAG project aims to engineer soft structures without rigid materials. SWAG uses high-strength fabrics and films to create inflatable human-assistive exoskeletal devices that specifically target strain-prone segments of the human body, such as the lower body and core. By offering higher variable stiffness and force-to-weight ratios while conforming precisely to intricate joint kinematics, SWAG’s designs enable complete assistance for multi-degree-of-freedom joints like the ankle and hip.