## 1 Introduction  
The use of electric forklifts has shown significant growth in recent decades, primarily driven by the transition toward more sustainable and energy-efficient industrial solutions. Electric forklifts, by not relying on fossil fuels, offer a non-polluting alternative, with lower environmental impact and reduced long-term operational costs [1, 2, 3]. The research and analysis of electrically driven forklifts has been carried out based on different approaches. From a mechanical and modeling perspective, multibody simulation approaches have been validated for reproducing dynamic load conditions in forklifts, supporting virtual testing and structural design [4]. Moreover, predictive maintenance techniques using vibration-based diagnostics and machine learning are being applied to anticipate component failure and extend equipment lifespan [5]. At the interface between energy efficiency and load integrity, anti-slip fork attachments have been developed to reduce both energy usage and cargo damage, particularly under dynamic maneuvers [6]. To improve the performance and sustainability of electric forklifts, recent studies have focused on developing advanced energy recovery systems. For instance, in [7] a novel energy recovery system is proposed for heavy-duty electric forklifts, utilizing a hydraulic motor to recover energy during the lowering process. The simulation results demonstrated the feasibility and efficiency of the proposed system in reducing energy losses and managing system temperature. In [8], the authors developed an energy management strategy for electric forklifts equipped with electric lifting devices, replacing traditional hydraulic systems. Their approach resulted in a 46.7% reduction in fuel consumption and an 82.3% improvement in transmission efficiency. Furthermore, in [9] the impact of recovered energy from the forklift lifting system was explored, comparing different storage devices. By integrating an electro-hydraulic system with a high-efficiency energy storage unit, the overall energy efficiency of the forklift operation was significantly improved. The work described in [10] presents an energy recovery system based on double hydraulic motor-generators, achieving a regeneration efficiency of up to 74%, without affecting the boom control performance of the forklift. Recent advancements in energy storage systems have significantly improved the performance and efficiency of electric forklifts [11]. A promising development is the integration of hybrid battery systems combining supercapacitors and lead-acid batteries [12; 13], which enhances cycle life and economic benefits for industrial applications. The study presented in [2] describes the optimal sizing of a lithium-ion battery and supercapacitor hybrid energy storage system for forklifts, improving efficiency and battery lifespan in machines with frequent stop-and-go cycles. Additionally, hydrogen fuel cells paired with supercapacitors have been shown to provide extended autonomy and lifecycle benefits, making them a viable alternative to traditional battery systems [13]. From an operational safety perspective, the use of virtual reality for operator training has been shown to significantly reduce energy consumption in logistics environments while maintaining training effectiveness [14]. Other research lines focused on the center of gravity estimation of loaded forklifts to control the dynamic stability as means to prevent accidents under different operating conditions. An investigation about the relationship between the center of gravity and the risk of overturning in forklifts is presented in [15], where the authors derive a method for determining risk conditions by defining a stable region for the position of the center of gravity. A similar study is presented in [16] where the authors proposed an analytical method to assess the stability of counterbalanced forklifts when assembled with different equipment for load handling.