Understanding steel/skin contact phenomena is important for the study of object manipulation in robotics and has been a topic of great interest. In this study, pig skin was taken as a surrogate model for human skin, and its adhesive, friction, and deformation behaviors were measured under various exposure times to air. Indentation, friction, and scratch tests were performed at $25^{circ}C$ and 45% relative humidity. The influences of adhesion and deformation on the coefficient of friction were characterized; the pig skin was found to be sensitive to the sliding velocity and normal load under the controlled experimental conditions.