The invention relates to a fabric made of cored piezoelectric fibers by weaving or knitting. A plurality of cored piezoelectric fibers are parallelly woven or knitted along a same straight line or curved line direction, crosswise woven or knitted along different straight line or curved line directions, or woven or knitted to form knots extending in the straight line or curved line direction to form an area with the cored piezoelectric fibers, and the area with the cored piezoelectric fibers is woven or knitted with an area formed by weaving or knitting other textile fibers to form one or more layers of the fabric. Thus, the area with the cored piezoelectric fibers in the fabric can serve as a sensor or drive. Due to flexibility and foldability, the cored piezoelectric fiber fabric can be made into wearable structures such as gloves, vests, wrist bands, ankle pads, socks and the like which can be put on a living body or a robot body to serve as sensors for sensing health conditions in the living body, movements of the living body or the robot body or external acting forces; the wearable structures can also serve as drives for adding external signals onto the fabric, the living body can sense the external signals by sensing deformation, vibration and the like of the fabric; the wearable structures can further serve as sonic sensors or sonic drives to sense external sound waves or transmit sound waves.