Flexures in End Effectors

1 . A device, comprising:

a robot end effector comprising:

a first digit configured to move through a first plane when actuated;

a second digit configured to move through a second plane when actuated, the first digit being adjacent the second digit; and

a resilient member coupling the first digit and the second digit, wherein the first digit is configured to splay relative to the second digit in response to a force normal to the first plane and bias the resilient member when splaying.