Small‐radius curved bridges are mostly used for overpass ramps, that are spatially irregular and usually have very complex seismic behavior. It is not easy to reproduce such behavior because of the need for large‐scale shaking tables. The hybrid test is one of the most effective approaches for solving this problem by considering the structural elements of interest as physically tested substructure while the rest is numerically simulated. In this paper, a hybrid test system was first developed based on the OpenFresco framework, where one of the piers was considered as the tested substructure, and the rest was simulated by OpenSees. A novel spatial loading device (SLD), configured as the Stewart pattern, was then developed to achieve the boundary conditions between substructures. The control schemes to perform the force‐displacement mixed control, conduct the geometric transformation while considering the load point offset, and achieve an external displacement control were proposed and validated through several rounds of hybrid testing. The experimental results indicate that the experimental system including loading control subsystem and hybrid control subsystem can realize the loading command accurately.