Extensive livestock farming can be a great ally in mitigating the climate crisis that threatens our planet through the conservation and responsible use of ecosystems and natural resources. This activity is gradually benefiting from the use of new technologies that promote more efficient grazing management and work to improve animal welfare, resulting in responsible, high-quality products. However, current technological aids have gaps, among other issues, because is not considering the needs of the wearer -the animal- at the same level as human needs. In this paper, we present a wearable for virtual livestock fencing that has been developed following a user-centred design methodology that considers both the human and the animal - Animal Centred Design. In the process, smart textiles and additive manufacturing technologies have been explored and used for prototyping. The product designed is a halter with a novel structure having a specialised electrode system and an electronic housing. Thanks to a product design focused on all users, we have succeeded in creating a highly ergonomically optimised product due to locating the stimulus in the snout. These advances will improve the performance of the device and promote reliable research on animal learning.