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=== Shape of the gripping surface ===
The shape of the gripping surface on the fingers can be chosen according to the shape of the objects that are lifted by the grippers. For example, if the robot is designated a task to lift a round object, the gripper surface shape can be a negative impression of the object to make the grip efficient, or for a square shape the surface can be plane.
=== Force required to grip the object ===
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