Restoring tissue palpation in Minimally Invasive Surgery (MIS) procedures has been a relevant research topic in the last decade. Among the developed devices the Wireless Palpation Probe (WPP) embeds a barometric pressure sensor to create a stiffness distribution map of underlying tissues. In this work we characterized nine different interchangeable WPP heads fabricated with the combination of three different thickness/materials. Step responses and stress strain were evaluated to assess the best material and thickness combination for the next WPP heads fabrication.