Pressure sensor for linear actuator

hypothetical scenario, illustrate design parameters:
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say wanted make steak cooking appliance. @ point in cooking process, want measure how steak cooked. way want implement steak cooking state check prodding steak (probably form of linear actuator), , measuring "hardness" or "squishiness" of steak. "harder" or "firmer" steak, more "well done" or cooked is. "squishier" is, more rare or raw is.

now linear actuator can tell me how far actuator has moved via normal feedback mechanisms.
i not want sensor @ end of linear actuator between steak , actuator, fat, heat, food scraps, etc, can impact sensor , render unhygenic, etc.
so "squishiness" sensor needs implemented other way / location.
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as said, hypothetical scenario, purely setting parameters of design.

assuming linear actuator not stall, , has limit switch or similar prevent prodding far steak, , assuming knows surface of steak is.

i guessing calibrate actuator current prodding pre-cooked steak instant hits pan, , have sort of limit defined based on typical hardness of done steak. in between 2 limits of raw , done, repeated prod depth steak surface down, it's going "harder" longer cooks.

is actuator extended, , encounters resistance in steak, current draw increase in predictable fashion hardness of steak increased?

any suggestions on sensors or thoughts on how it?

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