I spray mine with some general purpose household cleaner inside and out, rub/work the straps and pads as needed to dislodge dirt and stains, rinse well and air dry. I actually think you could safety wash them in a dishwasher. Nothing mysterious goes on. They just spray hot water around. The somewhat caustic (basic) cleaner shouldn't bother the plastics and synthetics. The heat of the drying cycle might be a bit much on the lower rack....