A multi-axis force sensor is a device in which several simple transducers measure the effects of unknown loads on the mechanical structure

decoupling is an important part for its design. Aiming at shortcomings of traditional static linear decoupling method

attempt to extend the traditional linear decoupling equation to polynomial structure

inspired by the general form of the inverse solution to polynomial

a nonlinear polynomial static directly decoupling equation is established

the method does not need curve fitting and inverse solution in traditional linear decoupling method

and does not depend on the precondition that the relationship between input and output is assumed to be linear behavior

and it can be expanded easily to produce any polynomial type required. The experimental results show that the method can reduce significantly output coupling error.