penetrometer
noun
pen·e·trom·e·ter ˌpe-nə-ˈträ-mə-tər 
: an instrument for measuring firmness or consistency (as of soil)
Example Sentences
Recent Examples on the Web The penetrometer – a space version of a terrestrial engineering tool – is slated for a 2023 uncrewed mission to the lunar south pole, a region dimpled with icy craters. 
Sarah Matusek, The Christian Science Monitor, 7 Dec. 2021
Sarah Matusek, The Christian Science Monitor, 7 Dec. 2021 Word History
Etymology
Latin penetrare + International Scientific Vocabulary -meter
First Known Use
1905, in the meaning defined above
Medical Definition
penetrometer
noun
pen·e·trom·e·ter ˌpen-ə-ˈträm-ət-ər
1
: an instrument for measuring the firmness or consistency of a substance
2
: penetrameter