Goosebumps is a robot with artificial-skin

Goosebumps robot has an artificial skin that can change its texture to express its internal state, such as emotions, the prototype robot belong to Human-Robot Collaboration and Companionship Lab @ Cornell University.

The oyster-like structure is composed of two texture changing shells and an expressive screen-projected face

3D printed parts, electronic and elastomers

The prototype skin can change its skin through a combination of goosebumps and spikes. This is in contrast to most socially expressive robots, which use either gestures or facial expressions to communicate. While these are common human expression channels, humans and many animals also show emotions on their skin, like ruffled feathers and goosebumps.

You can check the research papers here