Inducing movement along joint through contact

CarCian

Hi, I'm trying to model a tool/mechanism to be placed at the End Effector of my robot. Such tool must is composed of a case, a cylindircal guide and a cylindrical indenter. Such indenter is connected to the guide through a prismatic joint. I want my tool to behave such that when I bring it in contact with an object to probe, the indenter react to the contact and move along the joint axis according to the normal force applied to it.
I made some tries but I'm a beginner at robotstudio, so any help would be greatly appreciated.