Dynamic decoupling and compensating methods of multi-axis force sensors.

Dynamic decoupling and compensating methods of multi-axis force sensors are proposed to solve simultaneously the dynamic coupling between axes and the slow dynamic response which are the two key problems in dynamic characterizing of the multi-axis force sensors and improve their dynamic quality. Four types of dynamic decoupling and compensating networks are shown, the design equations and procedures are presented, and the parameters of the networks are determined using a method based on a functional link artificial neural network (FLANN). The dynamic decoupling and compensating results for a wrist force sensor have proved the methods to be correct and effective.