Soft robotic systems prevail in wearable and haptic applications, offering adaptability, safety and comfort. In this Review, we explore the integration of soft robotics in wearable designs for applications in assistance, rehabilitation and haptic sensory stimulation. We outline various types of soft actuators, examining their properties with regard to adjustable stiffness, mechanical responsiveness and sensing capabilities and their integration into wearable devices for health-care applications. We also highlight challenges and opportunities in developing sustainable, self-healing, self-powering and self-actuating soft robots, particularly with regard to achieving efficient energy usage, long-term durability and personalized control. Finally, we examine how machine learning might be explored to optimize the performance and adaptability of soft robotic devices to transform real-time data into actionable insights for personalized experiences.