This paper describes the activities related to the design. manufacturing and commissioning of an innovative Hardware-In-the-Loop test rig for linear Power Take-Off testing. The rig is characterised by a fully coupled architecture in which three electro-mechanical units integrating a ballscrew and an electrical machine can actuate on a linear axis. either as motor or generator. https://www.countryscenesaddleryandpetsuppliers.shop/product-category/accessories-2/