The design of physical compliance – its location, de- gree, and structure – involves tradeoffs in collision performance, proprioceptive capabilities, and motion control performance. While compliance can be introduced in the robot (in the joints, flange, end-effector/gripper), most manipulation tasks are done in human-built environments, and compliance can also be integrated into the environment. This paper presents three prototypes for environment compliance, using additive manufacturing to integrate flexures and viscoelastic materials. Two remote center of compliance (RCC) devices and a 1-DOF linear device are prototyped and tested in high-speed assembly tasks