Micromanipulation requires very high resolution robotic systems in order to achieve repeatabilities and precisions that are compatible with the dimension of the objects being manipulated. This makes it preferable to use compliant structures rather than articuflated mechanisms, at least close to end-effectors. Otherwise, articulated mechanisms can introduce dry friction that usually lead to deterioration of resolution. In addition, the actuators used to motorize microrobots must respect these constraints. This is why it is often necessary to use actuators that are different from those commonly used on the microscopie scale, such as electromagnetic motors. This is particularly true for the final stage driving the end-effectors.