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腕力传感器的动态特性至关重要，动态建模、解耦和补偿是其中三个最为关键的问题。本文解决了动态响应时间归一化的问题，将沃尔什变换方法实用于传感器动态建模。提出传感器不变性动态解耦方法，设计解耦网络，减小各方向之间的动态干扰。分别用系统辨识方法和零极点配置方法设计动态补偿环节，用数字信号处理器实现动态补偿器，提高传感器动态响应的快速性。
Dynamic characteristics of the wrist force sensors are crucial. Dynamic modeling, decoupling and compensation are three of the most critical issues. This paper solves the problem of normalization of dynamic response time, and applies Walsh transform method to sensor dynamic modeling. A dynamic decoupling method of sensor invariance is proposed to design a decoupling network to reduce the dynamic interference between all directions. The dynamic compensation is designed respectively by system identification method and pole-zero configuration method, the dynamic compensator is realized by digital signal processor, and the fast response of the sensor is improved.