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This letter presents novel body-worn antennas and medical sensors based on embroidered conductive polymer fibers (e-fibers) on textiles. This technology offers attractive mechanical and RF performance when compared to traditionally flat and rigid antennas and circuits. The e-fibers are composed of high-strength and flexible polymer cores that incorporate conductive metallic coatings. They are readily embroidered onto regular textiles and can also be laminated on to polymer dielectric substrates. The RF characteristics of the e-fiber textiles were evaluated using microstrip transmission line (TL) structures. They exhibited an insertion loss of only 0.07 dB/cm at 1 GHz and 0.15 dB/cm at 2 GHz. Prototype body-worn multiband/wideband antennas and medical sensor were constructed to demonstrate their efficiency and comparable performance to that of copper. All designs were fabricated with high precision and resolution down to 0.5 mm.