A brake pedal feel emulator for a motor vehicle brake system includes a housing having a bore for supporting a first piston operably connected to a brake pedal. An elastomer spring encapsulating a magnet or magnetized by the dispersion of ferrous particles throughout the spring body is engageable by the first piston and is disposed in the emulator housing. A second piston is disposed in the housing and engaged with the elastomer spring and with a mechanical spring. Hall effect sensors mounted on the emulator housing sense changes in a magnetic field generated by the magnet to provide signals to a controller proportional to travel and force exerted on the brake pedal for use in controlling the vehicle brake system.