A force sensor includes a substrate, a plurality of sensing elements, a seal, and a cover plate. The substrate includes a proximal surface and a distal surface, with the plurality of sensing elements coupled to the distal surface of the substrate. The seal includes a base wall and a flange extending proximally from the base wall. The flange is positioned against the distal surface of the substrate to define a cavity between the base wall of the seal and the distal surface of the substrate within which the plurality of sensing elements are disposed. The cover plate is positioned over the seal and fixed to the substrate. The cover plate applies a closure force on the seal to inhibit the ingress of fluids into the cavity.