The present disclosure provides systems, methods and components of a mechanical palpation sensing device system. The mechanical palpation sensing device includes a plurality of probe tips. A plurality of force transfer pins extend from the plurality of probe tips. A transfer plate is coupled to the plurality of probe tips. The transfer plate houses the plurality of force transfer pins. The plurality of force transfer pins are independently slidable within the transfer plate. The mechanical palpation sensing device includes a sensor plate including a plurality of contact points. The plurality of sensors are positioned on at least one of the plurality of force transfer pins and the sensor plate intermediate the sensor plate and the plurality of force transfer pins to contact the plurality of contact points.
