An apparatus includes a housing, a tip that moves with respect to the housing based on applied contact force and a pressure sensor that detects the force applied on the tip. The pressure sensor includes a first element integrated or fixed to the tip and a second element that is stationary with respect to the housing and positioned to face the first element. The first element is formed from a rigid material that is conductive. The second element is conductive and has elastic properties. In addition, one of the first element or the second element is coated with a non-conductive layer. The first element moves toward the second element based on force applied on the tip and deforms the second element based on the force. The sensor additionally includes a circuit to detect capacitance between the first element and the second element.