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

Table 3

Fitting results of and during PL.

	2nd-order	3rd-order	4th-order	5th-order	6th-order
Var	0.037a	0.0351	0.035	0.0329	0.0326
Std	0.1923	0.1874	0.1872	0.1813	0.1805
	0.6600	0.6772	0.6778	0.6979	0.7005