Implementations described and claimed herein provide systems and methods for palpation training. In one implementation, a system for medical procedure simulation includes an examination model, a sensor network, and a computing device. The examination model has a plurality of anatomical structure models, and the sensor network has a plurality of sensors. Each of the sensors is associated with one of the plurality of anatomical structure models and configured to capture examination data. The computing device is in communication with the sensor network and configured to generate feedback for an accuracy of a medical examination using the examination data.