Static electricity accumulated on fabrics often causes discharged discomfort, fire, explosion, and cardiovascular diseases. Meanwhile, the electricity can be harvested and used for self-powered wearable devices. Therefore, it is essential to regulate fabric triboelectricity through studying the relationship between friction coefficients and triboelectric charges. In this paper, a reciprocating tribometer coupled with triboelectric testing instruments is designed to collect in-situ tribological and triboelectric properties for laterally sliding fabric based triboelectric nanogenerators (F-TENGs). In this case, the regulation factors involve motion conditions (including load, frequency, friction angle, etc.), surface components and environments. The results show that faster sliding speed and lower humidity produce higher triboelectric outputs of F-TENGs. Especially, amino groups modified silk shows an extremely strong electron-donating ability and achieves a high triboelectric current of 382.2 nA when paired with polyimide, which is enhanced by 1.67 times compared with silk. Most importantly, the friction coefficient values of F-TENGs show almost the same trend as the triboelectric outputs. Based on this, a sensing system for monitoring comfort level of fabrics is successfully designed through rubbing tested fabrics and observing indicator lamps. This work proposes a tribological approach with valuable insights of the underlying mechanism of triboelectric charging and extended applications.