function [nano_hexapod] = initializeNanoHexapod(args)

    arguments
        %% Bottom Flexible Joints
        args.flex_bot_type      char {mustBeMember(args.flex_bot_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
        args.flex_bot_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
        args.flex_bot_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
        args.flex_bot_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
        args.flex_bot_kz  (6,1) double {mustBeNumeric} = ones(6,1)*7e7 % Axial Stiffness [N/m]
        args.flex_bot_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % X bending Damping [Nm/(rad/s)]
        args.flex_bot_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Y bending Damping [Nm/(rad/s)]
        args.flex_bot_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Torsionnal Damping [Nm/(rad/s)]
        args.flex_bot_cz  (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Axial Damping [N/(m/s)]

        %% Top Flexible Joints
        args.flex_top_type      char {mustBeMember(args.flex_top_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
        args.flex_top_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
        args.flex_top_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
        args.flex_top_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
        args.flex_top_kz  (6,1) double {mustBeNumeric} = ones(6,1)*7e7 % Axial Stiffness [N/m]
        args.flex_top_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % X bending Damping [Nm/(rad/s)]
        args.flex_top_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Y bending Damping [Nm/(rad/s)]
        args.flex_top_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Torsionnal Damping [Nm/(rad/s)]
        args.flex_top_cz  (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Axial Damping [N/(m/s)]

        %% Jacobian - Location of frame {A} and {B}
        args.MO_B (1,1) double {mustBeNumeric} = 150e-3 % Height of {B} w.r.t. {M} [m]

        %% Relative Motion Sensor
        args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'

        %% Top Plate
        args.top_plate_type char {mustBeMember(args.top_plate_type,{'rigid', 'flexible'})} = 'rigid'
        args.top_plate_xi  (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio

        %% Actuators
        args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible'
        args.actuator_Ga  (6,1) double {mustBeNumeric} = zeros(6,1) % Actuator gain [N/V]
        args.actuator_Gs  (6,1) double {mustBeNumeric} = zeros(6,1) % Sensor gain [V/m]
                                                                    % For 2DoF
        args.actuator_k   (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*380000
        args.actuator_ke  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*4952605
        args.actuator_ka  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*2476302
        args.actuator_c   (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
        args.actuator_ce  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*100
        args.actuator_ca  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*50
        args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m]
        % For Flexible Frame
        args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
        args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
        % Misalignment
        args.actuator_d_align (6,3) double {mustBeNumeric} = zeros(6,3) % [m]

        args.actuator_xi  (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio

        %% Controller
        args.controller_type char {mustBeMember(args.controller_type,{'none', 'iff', 'dvf', 'hac-iff-struts'})} = 'none'
    end

    nano_hexapod = struct();

    nano_hexapod.flex_bot = struct();

    switch args.flex_bot_type
      case '2dof'
        nano_hexapod.flex_bot.type = 1;
      case '3dof'
        nano_hexapod.flex_bot.type = 2;
      case '4dof'
        nano_hexapod.flex_bot.type = 3;
      case 'flexible'
        nano_hexapod.flex_bot.type = 4;
    end

    nano_hexapod.flex_bot.kRx = args.flex_bot_kRx; % X bending stiffness [Nm/rad]
    nano_hexapod.flex_bot.kRy = args.flex_bot_kRy; % Y bending stiffness [Nm/rad]
    nano_hexapod.flex_bot.kRz = args.flex_bot_kRz; % Torsionnal stiffness [Nm/rad]
    nano_hexapod.flex_bot.kz  = args.flex_bot_kz;  % Axial stiffness [N/m]

    nano_hexapod.flex_bot.cRx = args.flex_bot_cRx; % [Nm/(rad/s)]
    nano_hexapod.flex_bot.cRy = args.flex_bot_cRy; % [Nm/(rad/s)]
    nano_hexapod.flex_bot.cRz = args.flex_bot_cRz; % [Nm/(rad/s)]
    nano_hexapod.flex_bot.cz  = args.flex_bot_cz;  %[N/(m/s)]

    nano_hexapod.flex_top = struct();

    switch args.flex_top_type
      case '2dof'
        nano_hexapod.flex_top.type = 1;
      case '3dof'
        nano_hexapod.flex_top.type = 2;
      case '4dof'
        nano_hexapod.flex_top.type = 3;
      case 'flexible'
        nano_hexapod.flex_top.type = 4;
    end

    nano_hexapod.flex_top.kRx = args.flex_top_kRx; % X bending stiffness [Nm/rad]
    nano_hexapod.flex_top.kRy = args.flex_top_kRy; % Y bending stiffness [Nm/rad]
    nano_hexapod.flex_top.kRz = args.flex_top_kRz; % Torsionnal stiffness [Nm/rad]
    nano_hexapod.flex_top.kz  = args.flex_top_kz;  % Axial stiffness [N/m]

    nano_hexapod.flex_top.cRx = args.flex_top_cRx; % [Nm/(rad/s)]
    nano_hexapod.flex_top.cRy = args.flex_top_cRy; % [Nm/(rad/s)]
    nano_hexapod.flex_top.cRz = args.flex_top_cRz; % [Nm/(rad/s)]
    nano_hexapod.flex_top.cz  = args.flex_top_cz;  %[N/(m/s)]

    nano_hexapod.motion_sensor = struct();

    switch args.motion_sensor_type
      case 'struts'
        nano_hexapod.motion_sensor.type = 1;
      case 'plates'
        nano_hexapod.motion_sensor.type = 2;
    end

    nano_hexapod.actuator = struct();

    switch args.actuator_type
      case '2dof'
        nano_hexapod.actuator.type = 1;
      case 'flexible frame'
        nano_hexapod.actuator.type = 2;
      case 'flexible'
        nano_hexapod.actuator.type = 3;
    end

    %% Actuator gain [N/V]
    if all(args.actuator_Ga == 0)
        switch args.actuator_type
          case '2dof'
            nano_hexapod.actuator.Ga = ones(6,1)*(-2.5796);
          case 'flexible frame'
            nano_hexapod.actuator.Ga = ones(6,1); % TODO
          case 'flexible'
            nano_hexapod.actuator.Ga = ones(6,1)*23.2;
        end
    else
        nano_hexapod.actuator.Ga = args.actuator_Ga; % Actuator gain [N/V]
    end

    %% Sensor gain [V/m]
    if all(args.actuator_Gs == 0)
        switch args.actuator_type
          case '2dof'
            nano_hexapod.actuator.Gs = ones(6,1)*466664;
          case 'flexible frame'
            nano_hexapod.actuator.Gs = ones(6,1); % TODO
          case 'flexible'
            nano_hexapod.actuator.Gs = ones(6,1)*(-4898341);
        end
    else
        nano_hexapod.actuator.Gs = args.actuator_Gs; % Sensor gain [V/m]
    end

    switch args.actuator_type
      case '2dof'
        nano_hexapod.actuator.k  = args.actuator_k;  % [N/m]
        nano_hexapod.actuator.ke = args.actuator_ke; % [N/m]
        nano_hexapod.actuator.ka = args.actuator_ka; % [N/m]

        nano_hexapod.actuator.c  = args.actuator_c;  % [N/(m/s)]
        nano_hexapod.actuator.ce = args.actuator_ce; % [N/(m/s)]
        nano_hexapod.actuator.ca = args.actuator_ca; % [N/(m/s)]

        nano_hexapod.actuator.Leq = args.actuator_Leq; % [m]

      case 'flexible frame'
        nano_hexapod.actuator.K = readmatrix('APA300ML_b_mat_K.CSV'); % Stiffness Matrix
        nano_hexapod.actuator.M = readmatrix('APA300ML_b_mat_M.CSV'); % Mass Matrix
        nano_hexapod.actuator.P = extractNodes('APA300ML_b_out_nodes_3D.txt'); % Node coordinates [m]

        nano_hexapod.actuator.ks = args.actuator_ks; % Stiffness of one stack [N/m]
        nano_hexapod.actuator.cs = args.actuator_cs; % Damping of one stack [N/m]
        nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio

      case 'flexible'
        nano_hexapod.actuator.K = readmatrix('full_APA300ML_K.CSV'); % Stiffness Matrix
        nano_hexapod.actuator.M = readmatrix('full_APA300ML_M.CSV'); % Mass Matrix
        nano_hexapod.actuator.P = extractNodes('full_APA300ML_out_nodes_3D.txt'); % Node coordiantes [m]

        nano_hexapod.actuator.d_align = args.actuator_d_align; % Misalignment
        nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio

    end

    nano_hexapod.geometry = struct();

    Fa = [[-86.05,  -74.78, 22.49],
          [ 86.05,  -74.78, 22.49],
          [ 107.79, -37.13, 22.49],
          [ 21.74,  111.91, 22.49],
          [-21.74,  111.91, 22.49],
          [-107.79, -37.13, 22.49]]'*1e-3; % Ai w.r.t. {F} [m]

    Mb = [[-28.47, -106.25, -22.50],
          [ 28.47, -106.25, -22.50],
          [ 106.25, 28.47,  -22.50],
          [ 77.78,  77.78,  -22.50],
          [-77.78,  77.78,  -22.50],
          [-106.25, 28.47,  -22.50]]'*1e-3; % Bi w.r.t. {M} [m]

    Fb = Mb + [0; 0; 95e-3]; % Bi w.r.t. {F} [m]

    si = Fb - Fa;
    si = si./vecnorm(si); % Normalize

    Fc = [[-29.362, -105.765, 52.605]
          [ 29.362, -105.765, 52.605]
          [ 106.276, 27.454,  52.605]
          [ 76.914,  78.31,   52.605]
          [-76.914,  78.31,   52.605]
          [-106.276, 27.454,  52.605]]'*1e-3; % Meas pos w.r.t. {F}
    Mc = Fc - [0; 0; 95e-3]; % Meas pos w.r.t. {M}

    nano_hexapod.geometry.Fa = Fa;
    nano_hexapod.geometry.Fb = Fb;
    nano_hexapod.geometry.Fc = Fc;
    nano_hexapod.geometry.Mb = Mb;
    nano_hexapod.geometry.Mc = Mc;
    nano_hexapod.geometry.si = si;
    nano_hexapod.geometry.MO_B = args.MO_B;

    Bb = Mb - [0; 0; args.MO_B];

    nano_hexapod.geometry.J = [nano_hexapod.geometry.si', cross(Bb, nano_hexapod.geometry.si)'];

    switch args.motion_sensor_type
      case 'struts'
        nano_hexapod.geometry.Js = nano_hexapod.geometry.J;
      case 'plates'
        Bc = Mc - [0; 0; args.MO_B];
        nano_hexapod.geometry.Js = [nano_hexapod.geometry.si', cross(Bc, nano_hexapod.geometry.si)'];
    end

    nano_hexapod.top_plate = struct();

    switch args.top_plate_type
      case 'rigid'
        nano_hexapod.top_plate.type = 1;
      case 'flexible'
        nano_hexapod.top_plate.type = 2;

        nano_hexapod.top_plate.R_flex = ...
            {[ 0.53191886726305  0.4795690716524  0.69790817745892
               -0.29070157897799  0.8775041341865 -0.38141720787774
               -0.79533320729697  0                0.60617249143351 ],
             [ 0.53191886726305 -0.4795690716524 -0.69790817745892
               0.29070157897799  0.8775041341865 -0.38141720787774
               0.79533320729697  0                0.60617249143351 ],
             [-0.01420448131633 -0.9997254079576 -0.01863709726680
              0.60600604129104 -0.0234330681729  0.79511481512719
              -0.79533320729697  0                0.60617249143351 ],
             [-0.51771438594672 -0.5201563363051  0.67927108019212
              0.31530446231304 -0.8540710660135 -0.41369760724945
              0.79533320729697  0                0.60617249143351 ],
             [-0.51771438594671  0.5201563363052 -0.67927108019211
              -0.31530446231304 -0.8540710660135 -0.41369760724945
              -0.79533320729697  0                0.60617249143351 ],
             [-0.01420448131632  0.9997254079576  0.01863709726679
              -0.60600604129104 -0.0234330681729  0.79511481512719
              0.79533320729697  0                0.60617249143351 ] };


        nano_hexapod.top_plate.R_enc = ...
            { [-0.877504134186525 -0.479569071652412 0
               0.479569071652412 -0.877504134186525 0
               0                  0 1 ],
              [ 0.877504134186525 -0.479569071652413 0
                0.479569071652413  0.877504134186525 0
                0                  0 1 ],
              [ 0.023433068172945  0.999725407957606 0
                -0.999725407957606  0.023433068172945 0
                0                  0 1 ],
              [-0.854071066013566 -0.520156336305202 0
               0.520156336305202 -0.854071066013566 0
               0                  0 1 ],
              [ 0.854071066013574 -0.520156336305191 0
                0.520156336305191  0.854071066013574 0
                0                  0 1 ],
              [-0.023433068172958  0.999725407957606 0
               -0.999725407957606 -0.023433068172958 0
               0                  0 1 ] };

        nano_hexapod.top_plate.K = readmatrix('top_plate_K_6.CSV'); % Stiffness Matrix
        nano_hexapod.top_plate.M = readmatrix('top_plate_M_6.CSV'); % Mass Matrix
        nano_hexapod.top_plate.P = extractNodes('top_plate_out_nodes_3D_qua.txt'); % Node coordiantes [m]
        nano_hexapod.top_plate.xi = args.top_plate_xi; % Damping ratio

    end

    if exist('./mat', 'dir')
        if exist('./mat/nass_model_stages.mat', 'file')
            save('mat/nass_model_stages.mat', 'nano_hexapod', '-append');
        else
            save('mat/nass_model_stages.mat', 'nano_hexapod');
        end
    elseif exist('./matlab', 'dir')
        if exist('./matlab/mat/nass_model_stages.mat', 'file')
            save('matlab/mat/nass_model_stages.mat', 'nano_hexapod', '-append');
        else
            save('matlab/mat/nass_model_stages.mat', 'nano_hexapod');
        end
    end
end