Fig. 1. Schematic diagram of FBG sensor slip

Fig. 2. FBG array distribution diagram

Fig. 3. Distributed FBG sensing experimental system

Fig. 4. Slip signal acquisition

Fig. 5. Comparison of denoising curves

Fig. 6. Characteristic value division of slip signal

Fig. 7. Comparison of wavelength curves corresponding to velocity and load changes

Fig. 8. Characteristic distribution of sample wavelength and time value

Fig. 9. Structural model of random forest

Fig. 10. Influence of decision tree number on MSE coefficient

Fig. 11. Structural model of neural network

Fig. 12. Effect of neuron number on prediction performance

Fig. 13. Results of velocity and load predictions by RF and BP regression