Joints　are　the　core　components　of　robotic　posture　control,　and　their　performance　has　a　direct　impact　on　the　overall　performance　of　robots.　Joint　testing　and　evaluation　are　important　foundations　for　improving　joint　performance.　In　this　work,　we　analyze　the　current　state　of　joint　technology　from　the　perspectives　of　application　scenarios,　working　principles,　and　structural　design　and　summarize　the　testing　principles　and　methods　for　joint　transmission　accuracy　and　response,　mechanical,　and　electrical　parameters.　Furthermore,　we　analyze　the　current　state　of　joint　testing　equipment　as　a　whole　and　elaborate　in　detail　on　the　two　types　of　testing　equipment　oriented　to　large　and　small　joints.　On　the　basis　of　the　above　work,　we　analyze　and　discuss　the　difficulties　in　joint　testing　technology　and　look　forward　to　its　future　development.　©　2023　Editorial　Board　of　Journal　of　Harbin　Engineering.　All　rights　reserved.