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Geometric construction-based compliance synthesis procedures are developed. Using these procedures, a large set of compliant behaviors can be realized by a single hand simply by adjusting the configuration of each finger and by adjusting the joint stiffness (using variable stiffness actuation) of each finger joint.<\/jats:p>","DOI":"10.1017\/s0263574722001448","type":"journal-article","created":{"date-parts":[[2022,10,10]],"date-time":"2022-10-10T12:51:10Z","timestamp":1665406270000},"page":"587-608","source":"Crossref","is-referenced-by-count":4,"title":["Grasp compliance achieved with a planar hand composed of multiple 3-joint fingers"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6130-4433","authenticated-orcid":false,"given":"Shuguang","family":"Huang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joseph M.","family":"Schimmels","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2022,10,10]]},"reference":[{"key":"S0263574722001448_ref1","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149634"},{"key":"S0263574722001448_ref10","doi-asserted-by":"publisher","DOI":"10.1115\/1.4004123"},{"key":"S0263574722001448_ref12","doi-asserted-by":"publisher","DOI":"10.1115\/1.4007926"},{"key":"S0263574722001448_ref15","doi-asserted-by":"publisher","DOI":"10.1115\/1.4039399"},{"key":"S0263574722001448_ref28","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2019.00135"},{"key":"S0263574722001448_ref35","unstructured":"[35] Wiemer, S. 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