CARNEGIE-MELLON UNIV PITTSBURGH PA
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This paper introduces a principle to guide the design of finger form invariance of contact geometry over some continuum of varying shape andor pose of the grasped object in the plane. Specific applications of this principle include scale-invariant and pose-invariant grasps. Under specific conditions, the principle gives rise to spiral shaped fingers, including logarithmic spirals and straight lines as special cases. The paper presents a general technique to solve for finger form, given a continuum of shape or pose variation and a property to be held invariant. We apply the technique to derive scale-invariant and pose-invariant grasps for disks, and we also explore the principles application to many common devices from jar wrenches to rock-climbing cams.