We have developed a torsion pendulum facility for LISA gravitational reference sensor ground testing that allows us to put significant upper limits on residual stray forces exerted by LISA-like position sensors on a representative test mass and to characterize specific sources of disturbances for LISA. We present here the details of the facility, the experimental procedures used to maximize its sensitivity, and the techniques used to characterize the pendulum itself that allowed us to reach a torque sensitivity below 20 fNm /sqrt{Hz} from 0.3 to 10 mHz. We also discuss the implications of the obtained results for LISA.
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