Socially assistive robots (SARs) can act as assistants and caregivers, interacting and communicating with people through touch gestures. There has been ongoing research on using them as companion robots for children with autism as therapy assistants and playmates. Building touch-perception systems for social robots has been a challenge. The sensors must be designed to ensure comfortable and natural user interaction while recording high-quality data. The sensor must be able to detect touch gestures. Accurate touch gesture classification is challenging as different users perform the same touch gesture in their own unique way. This study aims to build and evaluate a skin-like sensor by replicating a recent paper introducing a novel silicone-based sensor design. A touch gesture classification is performed using deep-learning models to classify touch gestures accurately. This study focuses on 8 gestures: Fistbump, Hitting, Holding, Poking, Squeezing, Stroking, Tapping, and Tickling. They were chosen based on previous research where specialists determined which gestures were essential to detect while interacting with children with autism. In this work, a user study data collection was conducted with 20 adult subjects, using the skin-like sensor to record gesture data and a load cell underneath to record the force. Three different types of input were used for the touch gesture classification: skin-like sensor & load cell data, only skin-like sensor data, and only load cell data. A Convolutional Neural Network-Long Short Term Memory (CNN-LSTM) neural network architecture was developed for inputs with skin-like sensor data, and an LSTM network for only load cell data. This work achieved an average accuracy of 94% with skin-like sensor & load cell data, 95% for only skin-like sensor data, and 45% for only load cell data after a stratified 10-fold validation. This work also performed subject-dependent splitting and achieved accuracies of 69% skin-like sensor & load cell data, 66% for only skin-like sensor data, and 31% for only load cell data, respectively.