Aum Shinrikyo did it successfully with VX gas. (from Wikipedia) “The VX victim, whom Shoko Asahara had suspected was a spy, was attacked at 7 a.m. on 12 December 1994, on the street in Osaka by Tomomitsu Niimi and another Aum member, who sprinkled the nerve agent on his neck. He chased them for about 100 yards (90 metres) before collapsing, dying 10 days later without coming out of a deep coma.”
I don’t know much about that attack, or what precautions they used to keep it off their own skin, but in the sarin attacks on the subways in 1995, the guys poking holes in the sarin bags had been given some antidote (nerve-blocking agent?) to minimize the effects of the nerve gas.
