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Ink/Stitch - An Inkscape extension for designing machine embroidery patterns.
Wilcom TrueSizer - Based on the same core software as Wilcom’s acclaimed professional embroidery design software, .
Embird - Machine-Independent Embroidery Software
KXStitch - KXStitch is a cross stitch pattern editor by KDE.
PCStitch - PCStitch is the most popular design tool for creating counted cross-stitch patterns available!
Mach3 - Mach3 is very popular among the Hobby CNC community.