An apparatus comprises a manipulandum, a housing, a sensor and an actuator. The housing has a palpation region spaced apart from the manipulandum. The sensor is coupled to the palpation region of the housing. The sensor is configured to send a signal based on a palpation of the palpation region of the housing. The actuator is coupled to the manipulandum. The actuator is configured to send haptic output to the manipulandum based on the signal.