According to the teaching requirements of abdominal palpation in diagnostics,a new type of pneumatic system of reactive abdominal palpation simulator was designed,the pneumatic actuator of the simulator was developed and the system control structure as well as the control algorithm were designed.The control characteristics and mechanical properties of the pneumatic system of the simulator were investigated in experiments.The results show that this system can implement control the internal pressure and hardness of the pneumatic actuator,and simulate the feeling when trainees do abdominal palpation.This research can provide the basis and reference for designing a new type and reactive clinical teaching device.