A sensor, comprising a deformable substrate, comprising a structural metamaterial in a first configuration; a plurality of raised structures disposed throughout the substrate, wherein the plurality of raised structures are invertible; a responsive material layer, wherein the responsive material layer is disposed on the plurality of raised structures and is configured to invert the plurality of raised structures in the presence of an external stimuli; and a plurality of second configurations of the deformable substrate that correspond to a plurality of inverted raised structures.