The main feature of a bilateral Master-Slave servomanipulator is its "transparency", i.e. the operatr has virtually to feel as if his own hands were extended to the Slave on the spot of remote operation, i.e. inside a radioactive environment. To obtain this stringent requirement, sensitivity, precision, stiffness, low inertia and friction reflected, as well as low thermal losses and compactness needed for easy access, are to be achieved.