In this paper, having considered the tactile sensing and palpation of a physician in order to detect cancerous tumors, we modeled the tissue containing a tumor and used contact elements to analyze the tactile sensor function. By using the finite element method, the effects of the tumor’s existence appeared on the surface of the tissue. This was due to exerting mechanical load on the system. Following this, a tactile sensory system called “Tactile Tumor Detector” was designed and constructed. This device is able to detect alien objects in the simulated models by making contact with model surfaces. In order to perform a series of precise experiments, a robot that can hold the tactile probe was used. The maximum value of stresses was chosen as the comparison criterion. The variation of this criterion versus the tumor parameter changes was investigated, and good agreements between numerical and experimental results were obtained.