A method of hysteretic palpatory training includes providing a wire or a computer controlled actuator having a plunger that hysteretically resists the application of a palpatory force. An increasing palpatory force is applied in a first direction to the wire or the plunger, whereupon the wire or plunger hysteretically 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 The palpatory force is then withdrawn whereupon the elasticity of wire or the elasticity emulated by the plunger causes it to return to a position intermediate the first and second positions. The applied palpatory force versus displacement in response to applying and withdrawing the palpatory force to the wire or the plunger is then detected.