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A textile endfire antenna operating in the 60-GHz band is proposed for wireless body area networks (BANs). The permittivity of the textile substrate has been accurately characterized, and the Yagi-Uda antenna has been fabricated using an ad hoc manufacturing process. Its performance in terms of reflection coefficient, radiation pattern, gain, and efficiency has been studied in free space and on a tissue-equivalent phantom representing the human body. It is shown that the antenna is matched in the 57-64-GHz band. Its measured on-body efficiency and maximum gain equal 48.0% and 11.9 dBi, respectively. To our best knowledge, this is the first textile antenna for on-body wireless communications reported at millimeter waves.