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Unlike conventional soft actuators that achieve motion through bending, elongation, or twisting, these systems enable out\u2010of\u2010plane deformation, producing localized protrusion, retraction, and programmable contact mechanics without rigid support structures. This review reframes thickness modulation not merely as an actuation outcome, but as a material\u2013architecture strategy that couples energy transduction, geometry, and compliance to enable new modes of haptic interaction, morphological adaptation, and operation in confined or unstructured environments. We present a comprehensive synthesis of thickness\u2010morphing soft skins, covering actuation stimuli, material platforms, structural architectures, fabrication strategies, modeling frameworks, and system\u2010level integration. 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