A textile actuator worn by a user comprises a textile envelope that defines a chamber made fluid-impermeable by a fluid-impermeable bladder contained in the textile envelope and/or a fluid-impermeable structure incorporated into the textile envelope. The textile envelope has a pre-determined geometry that produces an equilibrium state at a non-180-angle displacement and that stops further displacement upon pressurization of the chamber and prevents over-extension the joint. A fluid is delivered into or out of the chamber to displace the textile envelope primarily by transitioning from an uninflated state to the pre-determined geometry due to displacement of the textile envelope rather than via stretching or contraction of the textile envelope. When actuated, the textile actuator (a) displaces a body segment of the user and/or (b) supports and holds the body segment of the user in place.
