This is the basic file - I changed adjust it in cura to fit.
100% hand settings - 95% size-0.15 layer- 0.5 wall, 0.8 top/bottom- 20% infill
130% hand settings - 120% size rest same as above
12-28-16 - added holes on the inside layer, this keeps flex from cracking due to extreme flexing. It could use more But I am working on a gecko like fingers for more grip.
12-29-16 after more then a few designs these are the best one with holes and another with rollers. It seems like the only thing that will add grip is chemicals (still working on it)