Compliant mechanisms having inverted tool members

An apparatus, comprising:

• a shaft comprising a distal end portion, a proximal end portion, and a longitudinal axis defined between the distal end portion and the proximal end portion, the distal end portion of the shaft comprising a ground portion;
• a tool member comprising an engagement portion and an actuation portion, the engagement portion being configured to exert an engagement force on a target structure, the actuation portion being configured to receive an actuation force at an attachment point;
• and
• a flexure being coupled to the ground portion of the shaft and the tool member, the flexure being configured to deform elastically when the actuation force is exerted on the actuation portion of the tool member such that the tool member rotates relative to the shaft about a pivot axis,
• the actuation portion of the tool member being configured such that the attachment point is spaced apart from the pivot axis in a direction normal to the longitudinal axis by a moment distance, the moment distance varying by less than ten percent through an angular range of motion of the tool member.

An apparatus, comprising:

• a shaft comprising a distal end portion, a proximal end portion, and a longitudinal axis defined between the distal end portion and the proximal end portion, the distal end portion of the shaft comprising a ground portion;
• a first tool member comprising a first engagement portion and a first actuation portion, the first actuation portion being configured to receive a first actuation force;
• a second tool member comprising a second engagement portion and a second actuation portion, the second actuation portion being configured to receive a second actuation force;
• and
• a flexure assembly coupled to the ground portion of the shaft and being between a proximal-most surface of the first actuation portion and the first engagement portion, the first tool member, and the second tool member, a first portion of the flexure assembly being configured to deform elastically when the first actuation force is exerted on the first actuation portion of the tool member such that the first tool member rotates relative to the shaft, a second portion of the flexure assembly being configured to deform elastically when the second actuation force is exerted on the second actuation portion of the tool member such that the second tool member rotates relative to the shaft.