A tunable static balancer arrangement on a mechanic device, for adjustably compensating a positive force needed to actuate a moveable part of the device from a first position to a second position. The arrangement comprises a moveable actuation member for transferring movement from an input to said moveable part, the actuation member being moveable in a general axial direction, at least one first stiffness element that exerts in at least one position a negative force in the axial direction counteracting at least partially said positive force when the moveable part is moved from the first position to the second position, at least one adjustable second stiffness element, wherein said first stiffness element is connected on one end to said moveable actuation member, and on the opposite end to the adjustable second stiffness element, such that the first stiffness element exerts a positive force on the adjustable second stiffness element,and such that when stiffness of said adjustable second stiffness element is adjusted, the negative force of said first stiffness element in the axial direction is altered. Also provided is a compliant grasper comprising the tunable static balancer arrangement.
