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

Table 8

Experiment results of and in DO .

1.875	0.748	1.423	1.974	0.452	−0.099
3.75	1.43	2.719	3.582	1.031	0.168
5.625	2.453	4.662	5.66	0.963	−0.035
7.5	3.427	6.51	7.471	0.99	0.029
9.375	4.498	8.54	9.44	0.835	−0.065
11.25	5.521	10.474	11.378	0.776	−0.128
13.125	6.495	12.312	13.293	0.813	−0.168
15	7.176	13.596	14.663	1.404	0.337
16.875	8.248	15.61	16.826	1.265	0.049
18.75	9.271	17.526	18.855	1.224	−0.105
20.625	10.293	19.436	20.803	1.189	−0.178
22.5	11.365	21.43	22.742	1.07	−0.242
24.375	12.387	23.326	24.532	1.049	−0.157
26.25	13.41	25.214	26.371	1.036	−0.121
28.125	14.481	27.183	28.56	0.942	−0.435