A compact, robust, wearable antenna for body-worn applications in the 2.4 GHz Industrial Medical and Scientific band is designed, fabricated and tested. This novel compact textile cavity backed slot antenna combines a half-mode substrate integrated waveguide topology with an additional row of shorting vias for miniaturization. Excellent free space performance is achieved with a measured 4.6 % impedance bandwidth, maximal gain of 4.7 dBi and radiation efficiency of 81.3 %. On-body measurements reveal minimal frequency detuning when the antenna is worn by a test subject as well as a negligible impedance bandwidth reduction to 4.5 %. The low calculated Specific Absorption Rate of 0.51 W/kg averaged over 1 g of tissue demonstrates high antenna body isolation. Therefore, this design is an attractive option as antenna in smart textile systems.