A device for a touch-sensitive characterization of surface texture is disclosed. According to one aspect, the device includes at least one three-axis force sensor at least partially covered by a coating structure including at least one first part placed against the sensor and at least a second part placed against the first part such that the first part is arranged between the sensor and the second part. The second part may include at least one protrusion arranged on a side opposite the first part and a shoulder arranged against a first face of the first part of the coating structure, located on the side opposite a second face of the first part placed against the sensor. The hardness of the material of the first part is lower than the hardness of the material of the second part.
