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An optical, elastomeric matrix encodes spatiotemporal haptic stimuli, such as temperature, deformation, and damage, into light. 

Silica-based distributed fiber-optic sensor (DFOS) systems have been a powerful tool for sensing strain, pressure, vibration, acceleration, temperature, and humidity in inextensible structures. DFOS systems, however, are incompatible with the large strains associated with soft robotics and stretchable electronics. We develop a sensor composed of parallel assemblies of elastomeric lightguides that incorporate continuum or discrete chromatic patterns. By exploiting a combination of frustrated total internal reflection and absorption, stretchable DFOSs can distinguish and measure the locations, magnitudes, and modes (stretch, bend, or press) of mechanical deformation. We further demonstrate multilocation decoupling and multimodal deformation decoupling through a stretchable DFOS–integrated wireless glove that can reconfigure all types of finger joint movements and external presses simultaneously, with only a single sensor in real time.