An apparatus for elastic hysteretic palpatory training includes a wire or a computer controlled actuator having a plunger that at least partially elastically resists the application of a palpatory force. In use of the apparatus, an increasing palpatory force is applied to an end of the wire transverse to its axis or an end of the plunger of the actuator in a first direction. In response to the applied palpatory force, the wire or the plunger elastically resist displacement from a first position to a second position. The palpatory force is then withdrawn whereupon the elasticity of wire or the elasticity emulated by the plunger causes it to return toward the first position. The applied palpatory force versus displacement is detected in response to applying and withdrawing the palpatory force to the wire or the plunger.