Apparatuses, systems, or methods for testing a mattress system are described herein. Apparatuses and systems can include a robotic arm assembly and a mannequin to simulate natural human motion or movements that occur during use of a mattress system. The apparatuses and systems described herein can test a mattress system for firmness and/or durability. Also described herein are methods for testing a mattress system with a robotic arm assembly and a mannequin.