 In our study we propose a novel wearable sensing device enabling remote palpation in a structured environment. In the proposed scenario the patients perform a self-palpation task while the doctors remotely perceive the same force exerted during the palpation. To achieve this we created a novel wearable sensing device exploiting 4-4 sensors in order to measure both the indentation force and the finger orientation exploiting the during the palpation. Our experimental campaign was conductive to show our sensing device efficacy in leading remote palpation in various structured environments.