Mechanical energy harvesters including piezoelectric nanogenerators, electromagnetic generators and triboelectric nanogenerators (TENG) used to convert the mechanical motion into electricity are more and more important in the recent decades. Specifically, the fiber-based TENG (FTENG) has gained considerable favors due to its flexibility, light weight, and high environmental tolerance for the wearable devices. The traditional FTENGs made of Teflon result in better performance but are not suitable for long-term wear in person. Here, we propose a novel FTENG using a flexible micro-needle-structured polydimethylsiloxane (MN-PDMS) together with the comfortable commercially available 2D-polyester fibers, and electroless nickel-plated cotton cloth of which two are widely used in human daily life. The MN-PDMS is formed by a laser engraved mold for improving its output performance of FTENG compared to the flat-PDMS. The open-circuit voltage (Voc) and the short-circuit current (Isc) of MN-FTENG increased to 73.6 V and 36 μA, respectively, which are 34% and 37% higher than the flat-FTENG. In terms of power, the performance of MN-FTENG reaches 1.296 mW which is 89% higher than that of flat-TENG and it can also light up 90 LEDs. For application, human motion at the joints can be detected and collected with various signals that are used for the human–machine interface (HMI) through the cooperation of components for the Internet of Things (IoT). It can light up the LED bulb through MN-FTENG to potentially develop IoT HMI systems for human motion control of robot in the future.