The invention relates to a pressure sensor, forces after one to three directions, normal to the sensor plane and tangential to the sensor plane, as well as torques, the sensor being based on the variation of reactive or mixed impedances when applying normal forces or pressure and/or tangential forces or torques on the sensor structure. The sensor has a structure that includes a closed and watertight space, so that the behavior of the sensor is little or not affected by varying environmental conditions.