Passive compliance control (also known as compliance control) does not require force measurement because there is no explicit force control. Instead, the manipulator and/or end effector is flexibly designed in a way that can minimize contact forces that occur during the task to be performed. Typical applications include insertion and gripping operations. The end effector is designed in such a way that it allows translational and rotational deviations orthogonal to the gripping or insertion direction, but has high stiffness in the gripping or insertion direction. The figure opposite shows a so-called Remote Center of Compliance (RCC) that makes this possible. As an alternative to an RCC, the entire machine can also be made structurally elastic.