A monitoring system includes a hydraulic accumulator including a piston movably disposed therein. At least one seal encompasses the piston. A first pressure sensor is configured to monitor pressure of a first fluid in a first chamber. A second pressure sensor is configured to monitor pressure of a second fluid in a second chamber. A first temperature sensor is disposed in the first chamber and configured to monitor the temperature of the first fluid. A second temperature sensor is disposed in the second chamber and configured to monitor the temperature of the second fluid. An electronic control unit is in communication with the sensors and programmed to in response to receiving pressure signals from the pressure sensors and temperature signals from the temperature sensors, determine a wear volume of the at least one seal; and compare the wear volume of the at least one seal to a predetermined threshold wear volume of the at least one seal to determine the remaining useful life of the hydraulic accumulator.