Variation in the contours of first and second compliant surfaces is produced by a compliant frame having a first resiliently variable frame element (120) having a corresponding first outer surface (122) and a first inner surface (124), and a second resiliently variable frame element (130) having a corresponding second outer surface (132) and a second inner surface (134). The first and second outer surfaces (122, 132) communicate with respective ones of the first and second compliant surfaces. A linkage element (141-144) having a predetermined resilience characteristic is coupled at a first end thereof to the first inner surface (124) and at a second end thereof to the second inner surface (134). A frame coupler (151) couples the first resiliently variable frame element (120) to a support element (150). An actuator (106) applies a force to the second resiliently variable frame element (130) with respect to the support element (150), resulting in a corresponding variation in the contour of the first and second compliant surfaces.