Objective: This paper presents a novel soft tissue elasticity measurement technique based on the fusion of Magnetic, Angular Rate, and Gravity (MARG) sensors and fixe d tactile sensors. This work is intended both as a stand-alone technology, and as an extension of traditional tactile imaging of the breast to allow for accurate diagnosis of breast lesions. Methods: A series of artificial silicone materials known to imitate soft biological breast tissues are characterised using the proposed system and compared against an Instron® universal testing machine to determine system accuracy and repeatability. Results: Comparing the characteristics of 10 distinct materials , with elasticities in the range 9kPa to 90kPa, determined by the proposed system to those from the Instron® yields accuracy within 4% over the full-scale range. Interexperimental repeatability is within 1.5%. Conclusion: The proposed system delivers absolute elasticity of materials to within 4% which, whe n combined with its lack of moving parts and low implementation cost, can significantly improve the diagnostic capability of tactile imaging in the clinical environment. Significance: By applying this technique, to determine the background elasticity of breast tissue, in conjunction with the relative lesion elasticity result from tactile arrays, the full non-invasive diagnostic potential of tactile imaging can be realised with the effect of reducing benign biops y rates, secondary care costs, and patient stress.