Whether satisfaction must be made by means of penal works?

Objections

Objection 1 : It would seem that satisfaction need not be made by means of penal works. For satisfaction should make compensation for the offense committed against God. Now, seemingly, no compensation is given to God by penal works, for God does not delight in our sufferings, as appears from Tobias 3:22. Therefore satisfaction need not be made by means of penal works.
Objection 2 : Further, the greater the charity from which a work proceeds, the less penal is that work, for "charity hath no pain [*Vulg.: 'Perfect charity casteth out fear, because fear hath pain']" according to 1 Jn. 4:18. If therefore works of satisfaction need to be penal, the more they proceed from charity, the less satisfactory will they be: which is false.
Objection 3 : Further, "Satisfaction," as Anselm states (Cur Deus homo i) "consists in giving due honor to God." But this can be done by other means than penal works. Therefore satisfaction needs not to be made by means of penal works.