This paper presents a comprehensive review of cardiorespiratory auscultation sensing devices which is useful for understanding the theoretical aspects of sensing devices, as well as practical notes to design novel sensing devices. One of the methods to design a stethoscope is using electret condenser microphones (ECM). In this paper, we first introduce the acoustic properties of the heart and lungs, as well as a brief history of stethoscope evolution. Then, we discuss the basic concept of ECM sensors and a recent stethoscope based on this technology. In response to the limitations of ECM-based systems, we explore the potential of microelectromechanical systems (MEMS), particularly focusing on piezoelectric transducer (PZT) sensors. This paper comprehensively reviews sensing technologies, emphasizing innovative MEMS-based designs for wearable cardiopulmonary auscultation in the past decade. To our knowledge, this is the first paper to summarize ECM and MEMS applications for heart and lung sound analysis. Keywords: Micro-electro-mechanical Systems (MEMS); Electret Condenser Microphone (ECM); Wearable Sensing Devices; Cardiorespiratory Auscultation; Phonocardiography (PCG); Heart Sound; Lung Sound