Wearable sensing technologies are having a worldwide impact on the creation of novel business opportunities and application services that are benefiting the common citizen. By using these technologies, people have transformed the way they live, interact with each other and their surroundings, their daily routines, and how they monitor their health conditions. We review recent advances in the area of wearable sensing technologies, focusing on aspects such as sensor technologies, communication infrastructures, service infrastructures, security, and privacy. We also review the use of consumer wearables during the coronavirus disease 19 (COVID-19) pandemic caused by the severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2), and we discuss open challenges that must be addressed to further improve the efficacy of wearable sensing systems in the future.