An ancient craft used for making fabric by linking together loops of yarn using two, three, or four hand-held needles. The first knitting machine was invented in England by William Lee (c.1550–c.1610). Machines are now used to produce complex knitted garments and fabrics of many kinds, but they cannot create all the intricate designs that are commonly produced by skilled hand knitters. The manufacture of knitted fabrics in tubular form is known as circular knitting; such fabrics are often used in underwear and sportswear.