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Mechanochromic materials, acting as lightweight sensors, offer easily interpretable visual feedback for localized stress detection, structural health monitoring, and energy\u2010efficient robotic skins. Herein, an innovative mechanochromic soft end\u2010effector capable of discerning local contact stresses during mechanical interactions with objects is presented and their relative position is ascertained. This system utilizes a reversible force\u2010induced color switch in a thin layer of spiropyran\u2010functionalized polydimethylsiloxane, which coats a silicone\u2010made suction cup. The mechanochromic suction cup is integrated with a 3D\u2010printed compact load\u2010transferring system and electronic color\u2010changing detection elements. The assembly may serve as a synthetic receptor for robotic actuators, discerning localized interaction forces down to 3\u2009N. 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