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The aging and damage of artificial skin materials for artificial intelligence robots are technical problems that need to be solved urgently in their application. In this work, poly (vinylidene fluoride) (PVDF) fibers containing a liquid agent were fabricated directly as biomimetic microvasculars, which were mixed in a glycol–polyvinyl alcohol–gelatin network gel to form biomimetic self-healing artificial skin composites. The self-healing agent was a uniform-viscous buffer solution composed of phosphoric acid, acetic acid, and sodium carboxymethyl cellulose (CMC-Na), which was mixed under 40 °C. Microstructure analysis showed that the fiber surface was smooth and the diameter was uniform. SEM images of the fiber cross-sections showed that there were uniformly distributed voids. With the extension of time, there was no phenomenon of interface separation after the liquid agent diffused into the matrix through the fiber cavity. The entire process of self-healing was observed and determined including fiber breakage and the agent diffusion steps. XRD and FT–IR results indicated that the self-healing agent could enter the matrix material through fiber damage or release and it chemically reacted with the matrix material, thereby changing the chemical structure of the damaged matrix. Self-healing behavior analysis of the artificial skin indicated that its self-healing efficiency increased to an impressive 97.0% with the increase in temperature to 45 °C. [ABSTRACT FROM AUTHOR]