The field of soft actuators and robotics has garnered considerable attention in recent years, driven by their distinct properties to adapt to diverse environments and enable secure and engaging interactions with humans. While current literature highlights a significant body of work on various soft actuators, it is noteworthy that the concept of soft sleeve actuation remains unexplored, as it has not yet been proposed. The concept of soft sleeve actuation represents a significant leap forward in the field of robotics, heralding tremendous potential for diverse applications, particularly for wearable robotics. This paper introduces a novel soft sleeve actuation mechanism, encompassing the development of two actuators capable of generating linear and bending motion. These actuators are lightweight and capable of generating considerable force and motion. Using Fused Deposition Modeling technology, a comprehensive fabrication framework was adopted to overcome manufacturing variability and fabricate high-quality airtight actuators. The mechanical performance of the proposed soft sleeve actuators (SLA) was investigated through a custombuilt experimental testing setup. The impact of geometric parameters and material stiffness on the behavior of the developed actuators is studied and discussed.INDEX TERMS Soft bending actuator, soft sleeve actuator, soft linear actuator, soft exoskeleton, soft robotic.