On the structure of sets with positive reach

We give a complete characterization of compact sets with positive reach (=proximally $C^1$ sets) in the plane and of one-dimensional sets with positive reach in ${\mathbb R}^d$. Further, we prove that if $\emptyset \neq A\subset{\mathbb R}^d$ is a set of positive reach of topological dimension $0< k \leq d$, then $A$ has its "$k$-dimensional regular part" $\emptyset \neq R \subset A$ which is a $k$-dimensional "uniform" $C^{1,1}$ manifold open in $A$ and $A\setminus R$ can be locally covered by finitely many $(k-1)$-dimensional DC surfaces. We also show that if $A \subset {\mathbb R}^d$ has positive reach, then $\partial A$ can be locally covered by finitely many semiconcave hypersurfaces.