Henein, SimonAymon, CédricBottinelli StefanoClavel, Reymond2023-11-072023-11-072023-11-071999-11-25https://infoscience.epfl.ch/handle/20.500.14299/202071This paper starts by presenting several examples of original flexible bearings and flexible articulated structures having 1 to 6 degrees of freedom to illustrate how flexures can soundly be used in high precision robotics. Then, the influence of the electrodischarge machining process of the joint's surfaces is discussed. Finally, an original setup for the fatigue testing of small flexures is briefly described.text::conference output::conference proceedings::conference paper