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The actuator's design considers functional requirements like weight, actuation speed, and stroke length, as well as human skin mechanics. It is fabricated by embedding the SMA spring in a silicone rubber matrix using 3D\u2010printed moulds. The impact of the silicone matrix on cooling during repeated actuations was assessed using thermal imaging. Testing was repeated on bare skin and under light clothing. Usability was evaluated through a questionnaire. The actuator demonstrates mechanical performance comparable to existing literature while ensuring comfort, lightness, and versatility, and meets functional and wearability requirements. Through the fabrication and characterization of the device it is demonstrated that the principles that are applied during its design can allow to obtain SMA\u2010based actuators capable of delivering directional feedback. 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