Abstract: The dynamic coupling is a special problem in the investigations of multi-dimensional force sensor's dynamic characteristic. There is no effective method to solve the dynamic coupling so far. This paper proposes a constance dynamic decoupling method of sensor. Based on the dynamic calibrating experiments, the sensor's dynamic models are set up, the decoupling network is designed in discret domain. Both the constructed models and the wrist force sensor are decoupled, and good effects are obtained. The constance decoupling method is simple and practical, and is a new kind of method for solving key problem of other multi-dimensional sensors and compound types of sensors.

Key words: wrist force sensor, constance principle, dynamic decoupling