Semi sprung joints are used in the finger tips of the V3.3 finger and in the V1.2M thumb developed for the MK0M mechanical hand. Added compliance of thumb and finger tips provides a better distribution of surface contact compared to a rigid design. Design doesn't require special hardware like custom springs and only relies on the flexibility of nylon. Initial attempts of a semi sprung joint were tested in the first MK0 prototype with TPU pins, but were found to be too soft for the task. Nylon gives a good balance of flexibility and stiffness as well as being fairly tolerant to deformation in the design.