diff --git a/.gitmodules b/.gitmodules
index 119bc6f..290efab 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -100,3 +100,6 @@
 [submodule "stewart-simscape"]
 	path = stewart-simscape
 	url = https://git.tdehaeze.xyz/tdehaeze/stewart-simscape
+[submodule "test-bench-flexible-joint-adv"]
+	path = test-bench-flexible-joint-adv
+	url = https://git.tdehaeze.xyz/tdehaeze/test-bench-flexible-joint-adv
diff --git a/test-bench-flexible-joint-adv b/test-bench-flexible-joint-adv
new file mode 160000
index 0000000..b179bcd
--- /dev/null
+++ b/test-bench-flexible-joint-adv
@@ -0,0 +1 @@
+Subproject commit b179bcd5f6b1bdd3b5299d66613734678a7a4ec3