Ms. Palmer is the Muppet Kids science teacher in the book The Trouble with Twins.

Ms. Palmer announces that the kids have one month to complete a science project for the fair, and she scolds Skeeter when she drops her yo-yo in class from nerves. Since science is he weakest subject, Skeeter turns to Scooter for help, and Ms. Palmer winds up awarding both of them trophies for their work. Scooter nets the grand prize for most spectacular project, and Skeeter for the most practical project.