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Recovered paper is the most important raw material for paper industry today and paper industry is one of the forerunners of circular economy. However, despite the long history with recycling the characterization of recovered paper quality is still not solved sufficiently. Here the automatic classification of paper objects can bring significant progress. Up to now, most technical approaches use NIR sensors and visual cameras, which can only “see” the surface of the objects. This often leads to misclassifications, since, for example, many packages look like graphic papers due to their printed surface. To improve these challenging classification tasks, sensors for mechanical properties of the paper objects can make an important contribution. In this paper, an automatic sensor is presented which can measure force characteristics when penetrating paper objects with specially shaped measuring tips. These force characteristics show good correlations to the mechanical properties determined in the laboratory according to standardized methods.