{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,29]],"date-time":"2026-09-29T16:03:03Z","timestamp":1790697783848,"version":"4.1.0"},"reference-count":23,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2026,9,29]],"date-time":"2026-09-29T00:00:00Z","timestamp":1790640000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000780","name":"EU NextGenerationEU","doi-asserted-by":"publisher","award":["09I05-03-V02-00039"],"award-info":[{"award-number":["09I05-03-V02-00039"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000780","name":"European Union","doi-asserted-by":"publisher","award":["101163659"],"award-info":[{"award-number":["101163659"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"award":["101163659"],"award-info":[{"award-number":["101163659"]}],"id":[{"id":"https:\/\/ror.org\/019w4f821","id-type":"ROR","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents an investigation of the viability of Fiber Bragg Grating (FBG) accelerometers and load sensors for two diagnostic tasks in robotics: vibration analysis of industrial manipulators and slip detection in robotic grippers. The study synthesizes experimental results from two independent experiments, focusing on the use of optical sensors in place of traditional electromechanical devices such as MEMS accelerometers and resistive strain gauges. The experiments were performed on an ABB industrial robot with a parallel robotic gripper equipped with embedded optical fibers. Under the conditions tested, the optical chains provided good sensitivity and detected dynamic events such as slip onset and contact or movement-induced vibrations. Compared with the conventional chains recorded alongside them, the fiber-optic accelerometers delivered cleaner vibration spectra (SNR 36.7 dB against 13.7 dB), while the FBG load sensors measured gripping forces with a lower noise floor and less mains-band interference, although the force lost before a slip alarm favored the FBG chain only in the experiment carried out with brass. Obtained with a single specimen of each sensor type and a limited set of grasped objects, these findings indicate that optical sensing is a viable alternative for robotic diagnostics, but it comes at the cost of higher price and complexity.<\/jats:p>","DOI":"10.3390\/s26196176","type":"journal-article","created":{"date-parts":[[2026,9,29]],"date-time":"2026-09-29T15:14:37Z","timestamp":1790694877000},"page":"6176","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Investigation of FBG Accelerometers and Load Sensors for Vibration Analysis and Slip Detection in Robotic Manipulators"],"prefix":"10.3390","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-6112-3397","authenticated-orcid":false,"given":"Juraj","family":"Kov\u00e1\u010d","sequence":"first","affiliation":[{"name":"Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovi\u010dova 3, 812 19 Bratislava, Slovakia"},{"name":"V\u00daEZ, a.s., Hviezdoslavova 35, 934 39 Levice, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-7958-0365","authenticated-orcid":false,"given":"Viktor","family":"Hr\u00faz","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovi\u010dova 3, 812 19 Bratislava, Slovakia"},{"name":"V\u00daEZ, a.s., Hviezdoslavova 35, 934 39 Levice, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"validation","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2917-6950","authenticated-orcid":false,"given":"\u013dubo\u0161","family":"Chovanec","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovi\u010dova 3, 812 19 Bratislava, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-4157-9308","authenticated-orcid":false,"given":"Izabela","family":"Trep\u00e1\u010dov\u00e1","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovi\u010dova 3, 812 19 Bratislava, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"validation","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4140-9737","authenticated-orcid":false,"given":"Franti\u0161ek","family":"Ducho\u0148","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovi\u010dova 3, 812 19 Bratislava, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"methodology","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"},{"role":"project-administration","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4785-2377","authenticated-orcid":false,"given":"Peter","family":"Hubinsk\u00fd","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovi\u010dova 3, 812 19 Bratislava, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"writing-review-editing","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0867-8065","authenticated-orcid":false,"given":"Zuzana","family":"Kovar\u00edkov\u00e1","sequence":"additional","affiliation":[{"name":"V\u00daEZ, a.s., Hviezdoslavova 35, 934 39 Levice, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"resources","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"},{"role":"project-administration","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1203-3446","authenticated-orcid":false,"given":"Roman","family":"Mykhailyshyn","sequence":"additional","affiliation":[{"name":"National Institute of Advanced Industrial Science and Technology (AIST), Tokyo Waterfront, 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"}]}],"member":"1968","published-online":{"date-parts":[[2026,9,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"e26282","DOI":"10.1016\/j.heliyon.2024.e26282","article-title":"A review of vibration analysis and its applications","volume":"10","author":"Chu","year":"2024","journal-title":"Heliyon"},{"key":"ref_2","first-page":"535","article-title":"Identification of faults in rotating machines using high precision FBG vibration sensor: A case study on PM schemes","volume":"36","author":"Nayak","year":"2024","journal-title":"Indones. J. Electr. Eng. Comput. Sci."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"116972","DOI":"10.1016\/j.sna.2025.116972","article-title":"Slip detection in robotic gripper using stretchable, soft multi-axial sensor","volume":"394","author":"Hossain","year":"2025","journal-title":"Sens. Actuators A Phys."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"73027","DOI":"10.1109\/ACCESS.2020.2987849","article-title":"Methods and Sensors for Slip Detection in Robotics: A Survey","volume":"8","author":"Romeo","year":"2020","journal-title":"IEEE Access"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Alhussein, A.N.D., Qaid, M.R.T.M., Agliullin, T., Valeev, B., Morozov, O., and Sakhabutdinov, A. (2025). Fiber Bragg Grating Sensors: Design, Applications, and Comparison with Other Sensing Technologies. Sensors, 25.","DOI":"10.3390\/s25072289"},{"key":"ref_6","unstructured":"(2025, December 10). FBG Principles. Available online: https:\/\/www.sylex.sk\/wp-content\/uploads\/2018\/09\/FBG-Principle.pdf."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"151","DOI":"10.1007\/s44290-024-00141-4","article-title":"Fiber Bragg grating (FBG)-based sensors: A review of technology and recent applications in structural health monitoring (SHM) of civil engineering structures","volume":"1","author":"Yassin","year":"2024","journal-title":"Discov. Civ. Eng."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Vandi, L., Calcagni, M.T., Belletti, F., Pandarese, G., Martarelli, M., Revel, G.M., Docter, V., and Pracucci, A. (2024). Structural Health Monitoring for Prefabricated Building Envelope under Stress Tests. Appl. Sci., 14.","DOI":"10.20944\/preprints202403.1436.v1"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"114397","DOI":"10.1016\/j.sna.2023.114397","article-title":"Small-sized temperature and pressure sensors based on fiber bragg grating for oil and gas wells","volume":"357","author":"Xu","year":"2023","journal-title":"Sens. Actuators A Phys."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1016\/j.yofte.2019.03.019","article-title":"Fiber Brag grating monitoring of a morphing wing based on a polyvinyl chloride reinforced silicone substrate","volume":"50","author":"He","year":"2019","journal-title":"Opt. Fiber Technol."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Qiao, X., Shao, Z., Bao, W., and Rong, Q. (2017). Fiber bragg grating sensors for the oil industry. Sensors, 17.","DOI":"10.3390\/s17030429"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"156863","DOI":"10.1109\/ACCESS.2020.3019138","article-title":"Fiber bragg gratings for medical applications and future challenges: A review","volume":"8","author":"Presti","year":"2020","journal-title":"IEEE Access"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Khonina, S.N., Kazanskiy, N.L., and Butt, M.A. (2023). Optical Fibre-Based Sensors\u2014An Assessment of Current Innovations. Biosensors, 13.","DOI":"10.3390\/bios13090835"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Liu, F., Dai, Y., Karanja, J.M., and Yang, M. (2017). A Low Frequency FBG Accelerometer with Symmetrical Bended Spring Plates. Sensors, 17.","DOI":"10.3390\/s17010206"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Reghuprasad, A.E., Colombero, C., and Godio, A. (2023). Serially Connected Cantilever Beam-Based FBG Accelerometers: Design, Optimization and Testing. Sensors, 23.","DOI":"10.3390\/s23063188"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"12074","DOI":"10.1109\/JSEN.2020.3000257","article-title":"Recent Advances and Tendency in Fiber Bragg Grating-Based Vibration Sensor: A Review","volume":"20","author":"Li","year":"2020","journal-title":"IEEE Sens. J."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"254","DOI":"10.1364\/OE.26.000254","article-title":"Sliding sensor using fiber Bragg grating for mechanical fingers","volume":"26","author":"Qian","year":"2018","journal-title":"Opt. Express"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"143","DOI":"10.1016\/j.sna.2019.01.018","article-title":"Slip and roughness detection of robotic fingertip based on FBG","volume":"287","author":"Feng","year":"2019","journal-title":"Sens. Actuators A Phys."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Lu, G., Fu, S., and Xu, Y. (2022). Design and Experimental Research of Robot Finger Sliding Tactile Sensor Based on FBG. Sensors, 2022.","DOI":"10.3390\/s22218390"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"3632","DOI":"10.1109\/JSEN.2018.2812820","article-title":"A Three-Dimensional Fiber Bragg Grating Force Sensor for Robot","volume":"18","author":"Xiong","year":"2018","journal-title":"IEEE Sens. J."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"10","DOI":"10.1109\/JRPROC.1949.232969","article-title":"Communication in the Presence of Noise","volume":"37","author":"Shannon","year":"1949","journal-title":"Proc. IRE"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"259","DOI":"10.1016\/0165-1684(90)90158-U","article-title":"Fast fourier transforms: A tutorial review and a state of the art","volume":"19","author":"Duhamel","year":"1990","journal-title":"Signal Process."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"1146","DOI":"10.30574\/ijsra.2025.16.3.2663","article-title":"Comprehensive review on fast Fourier transform types and their applications","volume":"16","author":"Hameed","year":"2025","journal-title":"Int. J. Sci. Res. Arch."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/26\/19\/6176\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,29]],"date-time":"2026-09-29T15:16:20Z","timestamp":1790694980000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/26\/19\/6176"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9,29]]},"references-count":23,"journal-issue":{"issue":"19","published-online":{"date-parts":[[2026,10]]}},"alternative-id":["s26196176"],"URL":"https:\/\/doi.org\/10.3390\/s26196176","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,9,29]]}}}