Maybe @DEcosse can help with how, but what you describe is what I feel when the ABS kicks in on my '14 R3T. It is NOT normal unless the front tire is about to lock (i.e. you brake too hard).
-MIG
The sensor itself is pretty robust - any problems are more likely to be in the ABS Pulsar Ring (the toothed disc that the sensor looks at) - check both front and rear for any issues, either warped or bent or missing teeth.
Could also be slightly tweaked brake rotor - rotate the wheel and see if any of rotors makes contact with pad at anywhere in its rotation.