Skin-surface frictionFriction phenomena have been extensively studied since the 1950s, because of the nature of human skinHuman skin as a viscoelastic soft material comprising the epidermis, dermis, and subcutaneous tissue, which induce unique mechanical phenomena. Additionally, as the skin-surface friction phenomenon reflects the biological state of the skin as well as the textures of creams or powders, a biomimetic tactile-sensing system that mimics the natural, smooth motion of humans when they touch an object, constantly changing its movement speed, was developed. This system can evaluate the friction profiles, friction-force velocity dependence, and sliding-out hysteresis. The developed system was used to evaluate the friction characteristics of the human skin, and the observed delay times and oscillatory phenomena reflected skin deformation. However, after applying moisturizers, such as glycerol, Vaseline, and silicone oil, the oscillations either disappeared or an adhesive phenomenon appeared (the strong attachment of the contact probe and skin). Overall, this manuscript presents the history of the studies on the friction phenomena occurring on human-skin surfaces and the friction dynamics observed using tactile-sensing systems.