Kinematic Calibration of a Parallel 2-UPS/RRR Ankle Rehabilitation Robot

Table 2

Fitting results of and during DO.

	2nd-order	3rd-order	4th-order	5th-order	6th-order
Var	0.0317	0.0310	0.0305	0.0190	0.0104
Std	0.1779	0.1776	0.1746	0.1379	0.1019
	0.4062	0.4186	0.4280	0.6435	0.8051