{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,4]],"date-time":"2025-09-04T14:19:28Z","timestamp":1756995568259,"version":"3.38.0"},"reference-count":22,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2012,2,1]],"date-time":"2012-02-01T00:00:00Z","timestamp":1328054400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2012,2]]},"abstract":"<jats:p> This paper introduces a principle to guide the design of finger form: invariance of contact geometry over some continuum of varying shape and\/or 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 principle\u2019s application to many common devices from jar wrenches to rock-climbing cams. <\/jats:p>","DOI":"10.1177\/0278364911430416","type":"journal-article","created":{"date-parts":[[2012,2,3]],"date-time":"2012-02-03T12:49:38Z","timestamp":1328273378000},"page":"236-248","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":15,"title":["Grasp invariance"],"prefix":"10.1177","volume":"31","author":[{"given":"Alberto","family":"Rodriguez","sequence":"first","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, Pittsburgh, USA"}]},{"given":"Matthew T","family":"Mason","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, Pittsburgh, USA"}]}],"member":"179","published-online":{"date-parts":[[2012,2,3]]},"reference":[{"key":"bibr1-0278364911430416","unstructured":"Barrett (2001) Barret Technologies: The Barret Hand. 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