We focus on the development of flexible and deformable electronics that mimic the functionalities of human skin while striving for the creation of the next generation of electronic skin (e-skin). The next-gen e-skin can have interesting capabilities such as intelligent tactile sensing and actuation, local computation, and energy generation, targeting applications in robotics, human-machine interaction, prosthetics, health monitoring and social robotics. Our efforts are dedicated to integrate various printed devices such as sensors, actuators, ICs etc. on a single flexible platform. We also explore different modalities for interaction between humans and robots to demonstrate our technologies.