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

Table 4

Fitting results during IN.

	2nd-order	3rd-order	4th-order	5th-order	6th-order
Var	0.0484	0.036	0.035	0.0349	0.0347
Std	0.2201	0.1898	0.1870	0.1869	0.1862
	0.8707	0.9038	0.9067	0.9067	0.9075