Abstract: A device and method for detecting, documenting, measuring and mapping the size, shape and location of lesions underlying the surface of the skin or other soft tissue in a subject by measuring variations in the tactile pressure of the skin or other tissue surface being investigated through the use of a capacitive tactile sensor is described. A capacitive tactile sensor comprises at least one exposure window, a substrate comprising a plurality of electrodes disposed within the housing, an insulating layer, a non-conductive compressible membrane and covering positioned over the insulating layer wherein at least a portion of the membrane is accessible via the exposure window, and a controller configured to calculate at least one parameter of a tissue of a subject. A method of measuring a tissue parameter in a subject and a method of performing a self-guided examination on a tissue of a subject are also described.