Development of a New Robotic Ankle Rehabilitation Platform for Hemiplegic Patients after Stroke

Table 5

The mean error and standard deviations on the three exercise modes.

Exercise mode 1	Trail			Mean error	Standard deviation
	1	2	3
Dorsiflexion/plantarflexion (°/s)	6.6	6.3	5.1	6	0.79
Inversion/eversion (°/s)	1.2	0.6	0.9	0.9	0.3
Internal/external rotation (°/s)	1.2	0.6	0.9	0.9	0.3
Exercise mode 2	Trail			Mean error	Standard deviation
	1	2	3
Dorsiflexion/plantarflexion (Nm)	6.2	5.8	6.4	6.13	0.31
Inversion/eversion (Nm)	3.6	3.2	3.5	3.43	0.21
Internal/external rotation (Nm)	8.6	8.1	8.3	8.33	0.25
Exercise mode 3	Trail			Mean error	Standard deviation
	1	2	3
Dorsiflexion/plantarflexion (°)	6.94	6.82	5.89	6.55	0.57
Inversion/eversion (°)	1.69	1.47	1.52	1.56	0.12
Internal/external rotation (°)	1.65	1.47	1.62	1.58	0.10