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An acoustic fiber sensor for measurement of ultrasonic waves, which used the approximate Raman-Nath diffraction effect where light diffraction waves were generated in an optical fiber by strain due to the ultrasonic waves, was proposed and examined. In order to characterize the acoustic fiber sensor as a basic study, measurements of low-frequency ultrasonic waves in water were examined using a step index fiber operating as a detection sensor. The results showed that characteristics of detected signals agreed with the theoretical prediction based on Fraunhofer diffraction. This indicates that our proposed fiber sensor can be used for the detection of low-frequency ultrasonic waves as well as the transmission of light diffraction signals.