Felix Klein saw screw theory as an application of elliptic geometry and his Erlangen Program. He also worked out elliptic geometry, and a fresh view of Euclidean geometry, with the Cayley–Klein metric. The use of a symmetric matrix for a von Staudt conic and metric, applied to screws, has been described by Harvey Lipkin. Other prominent contributors include Julius Plücker, W. K. Clifford, F. M. Dimentberg, Kenneth H. Hunt, J. R. Phillips.