When driving my Smart car slowly I get a weird spring sensation through the brake pedal and a noise to accompany it?

Have someone check the ABS reluctor rings (they are at the end of each rear driveshaft), these corrode and split over a period of time making the ABS not work when it should be, the split rings give incorrect signals to the ABS sensors that in turn makes the ABS pump unit work when it is not required.  Fit new driveshafts or have a qualified person replace the ABS timing rings.

*safety note potential hazard item*

abs ring