In this study, a skin sensing module is designed for the robotic arm. Based on this module, the robotic arm can perceive physical contacts or collisions, and trigger its predefined safety mechanism. A solution is provided to deal with the hidden work safety issue arisen with the advancement of human-robot collaboration. The purpose of this work is to protect the machine operators and improve their working environment by providing the modularization of the signal transmission. According to the proposed architecture through sensitive pressure sensing technique and wireless transmission, the robotic arm in execution can respond in a timely manner for protection, and ensure the task execution and safety control of the robot arm.