Given that Burt Ward didn't actually have bare legs but rather flesh-tone leggings, I think you could probably respect everything about the original Boy Wonder costume and just have Dick wearing beige leggings. I like the medieval look of the original design--which went along with gothic style lettering on the Robin logo.
They were evoking the middle ages and Robin Hood, with the boots, the chainmail, the lacing, the guantlets. So lean into that.