Lymphedema is a phenomenon in which fluid is accumulated inside tissues due to the damaged lymphatic systems. Lymphedema can cause complications such as lymphangitis, infection, changes in skin texture, fibrosis, and lymphangiosarcoma. In this study, a lymphedema screening system based on the elasticity of the skin is proposed to easily quantify lymphedema. The developed probe consists of touch sensors, a load cell and hall-effect sensors to measure the indentation force on the skin and the return time of the skin. The developed system can be used to estimate the change in the elasticity of the skin to quantify lymphedema. The system was tested with a thyroid phantom and gelatin phantoms of different concentrations and the resulting force and the time were recorded. It was found that the increase in the elasticity leads to a higher indentation force and shorter return time. This shows that the developed system can monitor the change in the skin elasticity by measuring the return time and the indentation force. The feasibility of the system in clinical applications will be evaluated in the future study.