A force sensor includes a first surface and a second surface located opposite the first surface, the first surface translatable against a resilient force in a direction towards and/or from the second surface; a distance sensor, arranged to measure the distance between the first surface and the second surface; characterized in that the force sensor comprises a flexible coupling extending along the direction, flexibly coupling the first surface to the second surface; and in that the flexible coupling is provided with a resilient means to provide the resilient force; and a space encompassed by the flexible coupling together with the first surface and the second surface being accessible to the distance sensor, the space filled with a medium for providing the resilient force.