What do you mean by "failed"?
If the parts that clamp onto the shafts are good, you may get by
replacing the flexible part.
Take some flexible metal strip, or piano wire.
Bend it in a loop big enough to flex, but small enough to fit
in the space allotted. Solder it to the metal clamps.
If they're steel, solder should work.
If aluminum, there's some stuff called Welco 52.
https://weldingsupply.com/cgi-bin/einstein.pl?PNUM::1::OR:00052-90
You won't need much, so you can buy similar stuff at most
any hardware store or big-box store without breaking the bank.
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If you can find a 2mm flexible coupling, you may be able to
just drill out one end to 4mm.
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You may be able to find a spring that will do the job.
For low-torque applications like pots, maybe a ball point pen spring
and some epoxy. If the spring is a tight fit on one end, it will slip
before the epoxy breaks on the other end...maybe...