One also has to remember that there will always be gaps and thin areas of armor that a staff weapon can exploit. Helmets in particular would still cave in and the user inside could still be killed if struck by a staff weapon if the person had sufficient strength, after all. There is a reason that maces without flanges and even studded wooden clubs were still effective well into the Medieval heyday when even shields were starting to become obsolete because of metallurgical developments.

My point with the Foil is that it's a modern competition weapon that even at its invention was never meant to harm anyone with any particular lethality. An Epee is derived from a Smallsword, itself derived from Rapiers and Sabers, all of which are developed from thrusting techniques laid down by Arming Swords, Nordic Swords, and finally originating with Spathas and the [i]incredibly[/i] scientific fighting style of the Romans (their fighting style was actually developed around metabolic efficiency so their troops had the most stamina throughout the battles). Anyway, Foils just kinda... bend... Something that looks like a foil and can be used similarly to a foil would be an Epee or Rapier. Bear in mind that neither of those weapons will bend like a foil as they're rigid metal meant to pierce through chain and plate armor. 

Anyway, I vote for keeping the touch feature against mooks and low-stamina, un-helmeted commanding units. It'd be similar to how real-life knights had a knife for a similar "mercy kill" purpose.