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

Table 5

Fitting results of during EV.

	2nd-order	3rd-order	4th-order	5th-order	6th-order
Var	0.0351	0.0349	0.0336	0.0336	0.0317
Std	0.1875	0.1869	0.1834	0.1834	0.1781
	0.6881	0.6901	0.7015	0.7016	0.7186