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Soft tissue abnormalities are often correlated with a change in the mechanical properties of the soft tissue. New developing non-invasive techniques with the ability of early detection of cancerous tissue with high accuracy is a challenging state of art. In this paper, a new method is proposed to investigate the liver tissue cancers. Hyperelastic behavior of a porcine liver tissue has been extracted from the in vitro stress-strain experimental tests of the tissue. Hyperelastic coefficients have been used as the input of the Abaqus FEM software and the palpation of a physician has been simulated. The soft tissue contains a tumor with specified mechanical and geometrical properties. Artificial tactile sensing capability in tumor detection and localization has been investigated thoroughly. In mass localization we have focused on deeply located tumor which is a challenging area in the medical diagnosis. Moreover, tumor type differentiation which is commonly achieved through pathological investigations is studied by changing the stiffness ratio of the tumor and the tissue. Results show that the new proposed method has a high ability in mass detection, localization and type differentiation.