During the last years, the need for telemedicine to face the challenge of health-care delivery in critical situations, as for example outbreaks of pandemic diseases, has acquired increasing importance. Despite that, there is no established technology to allow remote palpation in unstructured environments. Only few frameworks are available in literature, and the latters allow to perform skin indentation by sensing the contact force at a single contact point. In this thesis, a novel haptic device has been designed and tested by extending a former framework developed by the Siena Robotics and Systems Laboratory (SirsLab, UniSi). In the just mentioned framework a patient wears on his own finger a sensing device, in order to perform the palpation task himself, while at the same time a doctor wears a feedback device, able to replicate the pressure exerted by the patient on his own skin.