根据腕力传感器动态特性随负载情况而变化这一特点，本文提出自适应动态补偿方法．自适应动态补偿器能够自动调整自身的参数，以跟踪传感器模型的变化，始终保证动态响应的快速性．本文给出了两种实施方法，研究结果表明，自适应补偿的效果非常明显 According to the dynamic characteristics of the wrist force sensor with the load changes, this paper presents adaptive dynamic compensation method. Adaptive dynamic compensators can automatically adjust their own parameters to track changes in the sensor model, always ensuring the rapid dynamic response. This paper presents two implementation methods, the results show that the effect of adaptive compensation is very obvious