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

Table 6

Fitting results of during IN.

	2nd-order	3rd-order	4th-order	5th-order	6th-order
Var	0.0483	0.036	0.036	0.035	0.0347
Std	0.2197	0.1898	0.1870	0.187	0.1862
	0.5239	0.6446	0.6552	0.6552	0.6581