Research on an Ankle Joint Auxiliary Rehabilitation Robot with a Rigid-Flexible Hybrid Drive Based on a 2-SPS Mechanism

Table 6

The angular velocity characteristic value changes for the upper platform.

Working angles (°)	-20° to +20°		-15° to +15°		-10° to +10°
Angular velocity (°/s)	Theoretical value	Actual value	Theoretical value	Actual value	Theoretical value	Actual value
Maximum value	6.978	7.624	5.233	5.658	3.489	4.175
Minimum value	-6.978	-7.503	-5.233	-5.966	-3.489	-3.850