Wearable devices have evolved significantly, progressing from simple touch sensors to advanced hardware like exoskeletons, hearing aids, and space suits. These devices augment how individuals interact with their surroundings and enhance physical capabilities. Despite their effectiveness, many rigid wearable devices, characterized by gears and motors, struggle to adapt to the human body and target specific areas of the body. The emerging field of robotic textiles focuses on developing thin fabric substrates infused with actuation, variable stiffness, and sensing capabilities. The field distinguishes itself from conventional wearable technologies and soft robotics by harnessing components in fiber forms and leveraging textile manufacturing processes. The bulk characteristics of these textiles are dependent upon the primary fabric structures, whether knitted or woven. Digitally knitted substrates, in particular, offer a highly dense programmable area. Their doubly periodic structure, with each stitch configurable for different elasticities, therefore offers superior programmability and enables diverse 3D structures. This thesis harnesses the programmability of digital knitting to develop wearable robotic textiles tailored for specific tasks. Setting itself apart from the conventional robotic textile approach, these works emphasize body-conforming geometries and the seamless integration of functional components. Incorporating materials such as actuators, variable stiffness fibers, and sensors, these substrates are engineered to execute precise mechanical movements and detect tailored deformations necessary for specific wearable tasks. What sets robotic textiles apart is the meticulous control over each stitch's properties, augmented by the strategic use of functional filaments. This approach situates itself in contrast to traditional wearables, which often rely on rigid components ill-suited for accommodating diverse body shapes and movements. This thesis further explores the realm of personalized robotic textiles, presenting a case study that highlights their potential as custom wearable devices fabricated through a design tool, bypassing a learning curve required for digital knitting. This case study demonstrates how robotic textiles can provide users with personalized mechanotherapy. By developing a design tool that eliminates the need for extensive knowledge of digital knitting and involving multiple stakeholders, this research aims to empower designers, regardless of their background in knitting or engineering, to create personalized robotic textiles that seamlessly integrate into everyday life.