This paper presents a structured framework for the experimental characterization and benchmarking of actuator systems in robotics, with emphasis on applications involving human–robot interaction (HRI). The proposed methodology integrates eleven experimental protocols covering no-load, locked-rotor, and dynamic-load conditions. These tests are intended to characterize torque, speed, position, disturbance-rejection, and energy-related behavior under reproducible laboratory conditions. Based on the experimental results, a set of descriptive performance indicators is defined, including the Dynamic Stability Score (DSS), Load Robustness Index (LRI), Vibration Rejection Index (VRI), Dynamic Robustness (DR), Bandwidth Performance Index (BWPI), and Usable Bandwidth Under Load (UBUL). These indicators are not intended to replace standard control metrics or system-identification tools, but rather to complement them by summarizing actuator behavior under comparable test conditions. The framework is demonstrated on two representative Permanent Magnet Synchronous Motor (PMSM) actuator systems, P90 and GL80. The results show that the proposed protocol reveals relevant trade-offs between bandwidth, disturbance rejection, overshoot, load sensitivity, and energy consumption.
Rodríguez et al. (Sat,) studied this question.