A single-inductor self-starting boost converter is presented suitable for thermoelectric energy harvesting from human body heat. In order to extract maximum energy from a thermoelectric generator (TEG) at small temperature gradients, a loss-aware maximum power point tracking (MPPT) scheme was developed that enables the harvester to achieve high end-to-end efficiency at low input voltages. The boost converter is implemented in a 0.18 μm CMOS technology and is more than 75% efficient for a matched input voltage range of 15 mV-100 mV, with a peak efficiency of 82%. Enhanced power extraction enables the converter to sustain operation at an input voltage as low as 3.5 mV. In addition, the boost converter self-starts with a minimum TEG voltage of 50 mV leveraging a dual-path architecture without using additional off-chip components.