Skin sensor

I am planning to create a robot which might be like a spider can scrawl on surfaces and able to sense human skin. Legs can be around 3mm size and tip of the legs would work as sensor.
Consider me as beginner and looking for any kind of guidance. First thing I am looking for is what kind of sensor be used and will it be possible to have it a size around 3mm.
Thanks Riaz

At this time we do not have any “skin sensors”. You will need to think about how a sensor can differentiate between human skin and other objects - what makes skin different? It radiates heat, it’s “squishy”, it cries out when pinched… Size won’t be your main issue.
Biometric sensors might be a place to start: robotshop.com/en/biometric-sensors.html