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In this paper, we present a method for the simultaneous measurement of rotation and displacement or rotation and bending using single tilted fiber Bragg grating (TFBG). The insensitivity of the proposed system to temperature changes and the stretching direction of the fiber section in the sensing structure have been demonstrated. The experimentally determined sensitivities for rotation, displacement and bending are as follows: −0.0018 1/deg., 0.0054 nm/mm, and −0.055 1/mm over the measurement ranges of approximately 25-80 degrees, 34-74 mm, and 26.4-20 mm, respectively. The presented measurement system is versatile due to the ability to tune the measurement range by changing the fiber-loop radius.