Soft actuators are necessary for the development of soft robotics. While advances have been made in creating artificial means of motion with compliant materials, challenges remain. Within the area of electromechanically active polymers, forces are often small and limited to wet electrolyte conditions. Herein, textile logics and processes are employed to demonstrate woven, in-air operating, freestanding, soft textile actuators which can be electrically controlled. In-air actuating trilayer tape yarn consisting of poly(3,4ethylenedioxythiophene): polystyrenesulfonate layers and an ionogel are developed. The former acts as polymeric electroactive electrodes and the latter as a solid-state electrolyte, providing ions for the actuation. Weaving is used for creating bending fabrics, possible to post-process like any fabric. By weaving, actuator tape yarns are assembled in parallel to upscale the total output force, or alternated with non-actuating yarns to make passive and active areas. The weaving method also allows for additional yarn functionalities to be incorporated, e.g., to make conductive pathways, enabling multi-actuation areas, and individual electrical control. Additionally, tape yarns are arranged to create textile structures with both actuation and sensing. As a proof-of-concept, the developed fabric actuators enable novel wearable robotic devices for future applications that are inherently soft, lightweight, and multifunctional.