 Low-IMU-MUT Antitizor Study, Pasiftov CD-Selastic Actuation Under Modular Reference Force Control. In this study, we propose Modular Reference Force Control for CD-Selastic Actuation as it promises to improve interaction control performance by enabling rapid-fit forward action. We have derived sufficient conditions for possibility of Modular Reference Force Control under model mismatch. And we have verified theoretical results experimentally as in the left video. Right video presents null input is rendering performance of Modular Reference Force Control with chip test.