A Soft Wearable Robot for Vertical Jump Enhancement via a Pneumatic Energy‐Storing Propulsion Actuator and Triarticular Kinetic‐Chained Structure

Soft wearable robots have gained widespread interest across various disciplines; however, they remain insufficient in overcoming the physical limitations of the human body. In particular, enhancing vertical jump height, a commonly used indicator of physical capability, requires improved actuator power density, stroke length, and soft structure efficiency. To address these challenges, the Jump‐Enhancing Textile Suit is proposed, which integrates the Pneumatic Energy‐Storing Propulsion Actuator (PESPA) and the Triarticular Kinetic‐Chained Structure (TKiCS) to assist jump performance. PESPA stores elastic energy under pneumatic pressure and releases it during the propulsive phase to augment human movement. TKiCS uses the kinetic chain mechanism to reduce anchoring points and fully harness the high stiffness region, thereby improving force transmission efficiency. Controlled vertical jump experiments with healthy adult participants are conducted. The suit increases jump height by 3.74 cm on average and up to 9.04 cm maximum, while also enhancing hip, knee, and ankle torques. Under isotonic testing, PESPA achieves a power density of 2298.69 W kg −1 and outperforms conventional pneumatic actuators. A dynamic model enables accurate force prediction and precise timing for effective assistance. These findings establish a practical foundation for pneumatic wearable robotics and suggest applications in jump augmentation, rehabilitation, and athletic performance.