Palp

google

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mid 19th century: from Latin palpus, from palpare ‘to feel’.

wiktionary

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palp (plural palpsor palpi)

etymonline

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palp (n.)

"feeler, tactile organ," 1836, from French palpe, German palp, from Latin palpus "feeler," related to palpare "to touch softly, feel," which is of uncertain origin (see palpable).