WO2024213748A1

WO2024213748A1 - Manipulating device

Info

Publication number: WO2024213748A1
Application number: PCT/EP2024/060049
Authority: WO
Inventors: Cornelius NIEMEYER; Cédric DUVERNEY; Georg RAUTER; Heinz-Dieter HÜLS
Original assignee: Bruetsch Elektronik Ag; Universitaet Basel
Current assignee: Bruetsch Elektronik Ag; Universitaet Basel
Priority date: 2023-04-14
Filing date: 2024-04-12
Publication date: 2024-10-17
Anticipated expiration: 2025-10-14

Abstract

A manipulating device (1) for manipulating an object comprises a body unit (3), a camera (5) and a work tool (4). The work tool (4) comprises a base (41) and at least one manipulating member (42) elastically movable relative to the base and having an object contact section (4241). The manipulating device defines a field of view of the camera. The object contact section (4241) of the at least one manipulating member (42) of the work tool (4) is in the field of view of the camera (5).

Description

DESCRIPTION

Title

MANIPULATING DEVICE

Technical Field

[0001] The present invention relates to a manipulation device such as a gripper device and more particularly to a method of manufacturing such a device. Such manipulation devices can be used in automated or telemanipulation processes for handling or manipulating objects.

Background Art

[0002] In many industrial or medical processes, it is desired to grasp or otherwise manipulate objects by means of an automated or guided device. In particular, in automation and in medical applications it is often desired to automatically grasp and handle objects.

[0003] For example, in robotic processes at many occasions objects have to be transferred from one station to another or assembled together. For such transfer arm robots or similar arrangement are used. Typically, the robots are equipped with grippers which grasp the objects by clamping. Once grasped, the robot can transfer the object to a target location where the object can be further processed.

[0004] Or, in endoscopic application, it may be desired to hold or otherwise manipulate such as palpate an object or tissue inside a body lumen where it is not visible from outside the body. For this purpose, it is known to equip endoscopes with grippers or other tools which clamp or act on the object for holding and manipulating them.

[0005] Many known grippers comprise actuatable fingers for grasping the objects. Thereby, the grippers may be tweezer like structures or comprise a plurality of fingers. [0006] However, known industrial and medical grippers and other manipulators usually have drawbacks particularly when comparably small or sensitive objects are involved. For example, in some situations the location of the objects to manipulate is not precisely defined such that proper grasping or operating may be difficult. Or, control of proper holding of the object or of proper alignment of the objected while being held can be difficult. Moreover, objects may be damaged when being held by the grippers or otherwise manipulated particularly because usually the forces applied are comparably high in order to prevent loss of the objects or to ensure to achieve an aimed manipulation.

[0007] Therefore, there is a need for a manipulating device allowing improved handling of objects, in particular, of comparably small scaled and/or sensitive objects.

Disclosure of the Invention

[0008] According to the invention this need is settled by a manipulating device as it is defined by the features of independent claim 1 , and by a method as it is defined by the features of independent claim 25. Preferred embodiments are subject of the dependent claims.

[0009] In particular, in one aspect the invention is a manipulating device for manipulating an object comprising a body unit, a camera and a work tool. The work tool comprises a base and at least one manipulating member elastically movable relative to the base and having an object contact section. The manipulating device defines a field of view (FoV) of the camera. The object contact section of the at least one manipulating member of the work tool is in the field of view of the camera.

[0010] The object can be a small object such as an object having a diameter of less than 10 mm or of less than 1 mm. It can be any industrial or technical part or element. For example, it can be a component of a mechanical watch such as a toothed wheel, a shaft or the like. Or, the object can be a medical element such as a tissue portion, an organ or a part thereof, a medical device or the like.

[0011] The camera can be a micro-camera. Typically, such cameras have diameters of about 4 mm or less. Advantageously, the camera is external of the manipulation member. Also, it may be embodied to capture the complete manipulation member or at least portions thereof. In a beneficial configuration, the camera is arranged in a fixed position relative to the manipulation member.

[0012] The manipulating device can define the FoV of the camera by providing a free space such that the object contact section is directly visible by the camera. The FoV can also be defined by mirrors and/or other optical components such as lenses or the like such that the object contact section is indirectly visible by the camera.

[0013] The object contact section of the manipulating member may be designed to allow safe contact to the object. For example, it may have a comparably large contact surface adapted to securely touch the object. Or, it may be shaped to correspond to the object type intended to be contacted. The object contact section may be formed as or at a tip of the associated manipulating member.

[0014] The term “being in the FoV of the camera” in connection with the object contact section may particularly relate to a situation when the manipulating member is not contacting the object, i.e., when the manipulating device is not in operation. By the object contact section being in the FoV it is particularly achiever that in operation of the manipulating device the object or at least a portion of it being manipulated by the manipulating member is visible by the camera. Moreover, a section of the manipulating member close to the object in operation of the manipulating device can be monitored by means of the camera when the object contact section is in the FoV of the camera. Thus, the definition that the object contact section is in the FoV of the camera may be equivalent to a section of the manipulating member being in the FoV of the camera, wherein such section advantageously is affected, such as deformed or elastically deformed, by operation of the manipulating device on the object. Such section of the manipulating member may be referred to as operation affected section. Thus, the feature that the object contact section of the at least one manipulating member of the work tool is in the FoV of the camera may be equivalent to the operation affected section of the manipulating member is in the FoV of the camera.

[0015] The manipulation member can be any structure intended to intervene with or be operated on the object. In many applications such manipulation members have an essentially elongated shape. The exact shape and composition of the manipulation member can be adapted to the intended operation. Further, it may be shaped to allow the camera to observe the contact with and/or operation on the object. For example, in advantageous embodiments the camera is mounted in a central position, the at least one manipulation member has an essentially elongated shape and the manipulation member is convexly bent such that the FoV of the camera is not deteriorated by the elongated member.

[0016] By being equipped with the camera in accordance with the invention, the manipulating device allows for efficiently localizing the object, detecting object slippage, verifying and controlling operation on the object such as holding it, monitoring the orientation of the object before and during operation, identifying the object, e.g., by means of a code applied to the object or by the shape and/or color of the object, as well as controlling the handling of the object or releasing the object. Furthermore, as explained in more detail below, the camera and work tool setup allows for accurately determining a force applied to the object during operation.

[0017] Thus, the manipulating device according to the invention allows to achieve an improved handling of objects, in particular, of comparably small scaled and sensitive objects.

[0018] Preferably, the work tool is monolithically formed. The term “monolithically” in this context relates to a one-piece configuration allowing to prevent essentially any clearance or backlash possible. Thereby, the work tool may be formed in one piece of one single material. Also, it may be formed of plural components coherently connected, e.g., by an adhesive connection or bonding.

[0019] Preferably, the work tool is additively manufactured, such as 3D-printed or the like. Like this, a monolithic design can efficiently be achieved. Also, the shape of the work tool can conveniently and flexibly be designed as desired when being additively manufactured. Furthermore, additive manufacturing allows for designing comparably small work tools.

[0020] Preferably, the camera is mounted stationarily on the body unit. The term “mounted stationarily” in connection with the present invention can relate to being connected such that one piece or single piece is formed. In particular, when being stationarily mounted, the camera cannot be moved relative to the body unit, even though the camera does not have to be permanently fixed to the body unit. Thus, stationarily mounting can be established by a releasable or reversible connection or by a permanent irreversible connection.

[0021] Preferably, the body unit has a first coupling structure, the work tool has a second coupling structure mating the first coupling structure of the body unit and the object contact section of the at least one manipulating member of the work tool is in the field of view of the camera when the work tool is coupled to the body unit by the first coupling structure of the body unit mating the second coupling structure of the work tool.

[0022] The coupling structures of the work tool and the body unit allow for efficiently exchanging the work tool. Like this, an appropriate work tool suiting to the intended application can be selected before using the manipulating device. Also, the work tool can be replaced, if desired, for example when being damaged or worn.

[0023] The first and second coupling structures are advantageously configured to tightly and/or firmly connect the work tool to the body unit. It can comprise members which continuously block the work tool to the body unit the more the work tool is pressed to the body unit. Thereby, by an applied pressing force these members may minimize clearance and/or backlash between the work tool and the body unit.

[0024] The manipulation device preferably comprises a light source configured to illuminate the field of view of the camera. Thereby, the camera may directly be equipped with the light source in an integrated manner. Instead of such integrated light source, the light source may be separate from the camera. Such separate camera advantageously is stationarily mounted to the body unit. It can be positioned close to the camera or at any other location of the manipulation device from where the FoV of the camera can be illuminated. Aside from emitting regular visual light, the light source can be embodied to propagate structured light and/or infrared light. Depending on the application of the manipulation device, such specific light sources may be beneficial. For example, structured light allows for improved depth perception through alternating light directions. Or, infrared light sources allow for identifying hidden or covered structures such as circulating blood or the like.

[0025] Preferably, each of the at least one manipulating member of the work tool is connected to the base of the work tool via a flexure hinge such that the manipulating member can be tilted about the associated flexure hinge. In case the work tool is equipped with plural manipulation members, such tilting can be tilting towards each other. In general, flexure hinges allow for a robust and precise tilting. In particular, such flexure hinges can be embodied clearance or backlash free and define a direction of motion. Particularly, they can be embodied in a monolithic work tool which allows to apply a comparably simple model or equations to calculate deformation.

[0026] The flexure hinge can be a leaf spring hinge, a notch hinge or the like. Preferably, the flexure hinge is a cross strip hinge. Such cross strip hinges allow for providing a controllable tilting or movement of the manipulating member. Also, by such configuration a comparably robust construction can be achieved.

[0027] Preferably, each of the at least one manipulating member of the work tool has a marker arrangement positioned in the field of view of the camera. By means of the marker arrangement, the position of each manipulating member and, particularly, the object contact section or tip thereof can precisely be determined. Also, it allows for identifying a shape of the manipulating member, e.g., when being loaded or while being operated such that a deformation of the manipulation member can be identified and quantified. The marker arrangement can involve any pattern or landmark detectable by the camera. Advantageously, the marker arrangement of each of the at least one manipulating member of the work tool comprises a body, particularly, a three- dimensional body. Such body can efficiently be captured by the camera from various directions and locations. Further, such body may allow for determining a deformation of the manipulating member.

[0028] Thereby, even though in some applications one single body per marker arrangement may suffice, the marker arrangement of each of the at least one manipulating member of the work tool preferably comprises two bodies being located distant from each other. Advantageously, the two bodies are spheres or cubic or similar three-dimensional elements. Such bodies allow for an efficient and accurate determination of the location, orientation and shape of the manipulating member(s). In particular, such marker arrangement allows for determining a deformation of the at least one manipulating member during operation. In particular for spheres, their geometric center can be easily estimated from and direction due to their general symmetry.

[0029] Even though for determining the motion of beam-like structure that is meant to bend in one specific direction, two markers may be fine, i.e. , for example, a first one for detecting an opening of the manipulating member and a second one to estimate the bending, to detect more complex situations more than two markers per manipulating member may be beneficial to understand also torsion or other situations.

[0030] In a particularly advantageous embodiment, the manipulating device is a gripper device for grasping the object. Specifically for such gripper device, the at least one manipulating member of the work tool preferably comprises two elastic fingers each projecting from the base, wherein one of the two elastic fingers has the object contact section and another one of the two elastic fingers has another object contact section. The object contact section and the other object contact section can be identically or similarly designed. In the following description they may be referred to as the object contact sections without differing between the object contact section and the other object contact section. Similarly, the work tool having the at least two finger may be referred to as gripping tool in the following.

[0031] The term “finger” in connection with the gripper or manipulating device relates to any elongated component suitable to grasp the object. It may include a wide variety of rod-like or other elongated shapes.

[0032] The exact form of the fingers may be designed in accordance with the specific application of the gripper device. Further, the fingers may be shaped to allow the camera to observe the grasping of the object. For example, in preferred embodiments mounting the camera in a central position, the fingers may be convexly bent such that the field of view of the camera being between the fingers is free to an appropriate extent.

[0033] The number of fingers of the work or gripping tool may be selected in consideration of the field of application of the gripper device. For example, if elongated or clearly non rotational-symmetric objects are to be grasped, two fingers may be appropriate. If essentially rotational symmetric or similar objects are to be grasped, three fingers may be beneficial.

[0034] In the gripper device embodiment, the camera advantageously is oriented towards the object contact sections of the at least two elastic fingers of the work tool.

[0035] The gripper device equipped with the camera allows for efficiently verifying and controlling the holding or grasping of the object and monitoring the orientation of the object before and during grasping it. Furthermore, as explained in more detail below, the camera and work tool setup allows for accurately determining a force applied to the object when grasping and while holding it.

[0036] Preferably, each of the elastic fingers of the work or gripping tool has a posture finger portion and a spring finger portion, wherein the spring finger portion is easier elastically deformable than the posture finger portion. Such design of the finger(s) allows for an efficient controlling and monitoring deformation of the finger(s) during operation. Like this, the deformation of and, thus, the forces applied by the finger(s) can accurately be determined. Also, a direction of motion can efficiently be predefined. The tip(s) of the finger(s) advantageously are provided with the object contact section(s).

[0037] Thereby, each spring finger portion of the fingers of the work tool preferably comprises a leaf spring. The leaf spring can have two bent leaf members advantageously opposing each other. Such design allows for providing a sufficiently deformable, i.e., soft, construction but still providing appropriate robustness and, specifically, stiffness in directions not desired to be deformed.

[0038] Each of the spring finger portions of the fingers of the work or gripping tool preferably is equipped with the two bodies. By having at least two bodies at the spring finger portion, a three-dimensional deformation of the spring finger portion can efficiently be observed and monitored.

[0039] Preferably, the manipulating device comprises a processing unit connected to the camera, wherein the processing unit is configured to obtain image data collected by the camera and to determine a manipulating force of the at least one manipulating member of the work tool by evaluating an elastic movement of the at least one manipulating member based on the obtained image data. The processing unit can be an integrated component or a common computer connected to the camera.

[0040] The term “computer” in this connection can relate to any suitable computing device such as a laptop computer, a desktop computer, a server computer, a tablet, a smartphone, an industrial computer, an industrial controller such as a programmable logic controller (PLC), a robot control unit or an embedded device. The term covers single devices as well as combined devices. The computer can also be a distributed system, such as a cloud solution, performing different tasks at different locations. [0041] The elastic movement can particularly be or involve an elastic deformation of the manipulation member.

[0042] The manipulation force can be a pressing or palpation force by which the manipulating member is pushed against the object or another structure. Or, the manipulation force may be a force accidentally provided to the manipulation member. For example, when being handled the manipulation member can unintentionally contacting a structure inducing a force to the manipulation member. Thus, such unintentional contact can be identified and appropriate actions can be performed to react on the unintentional contact. In an advantageous embodiment, the manipulation force is a holding force induced to the object while grasping it. Furthermore, the manipulation force may also be or involve a torque being generated by a motion of the manipulation device and/or of the structure around the manipulation device and/or of the object.

[0043] Embodiments of the manipulating device having a processing unit allow for efficient determination of the force applied to the object by the manipulating device. In particular, by evaluating the deformation of the at least one manipulating member, the forces involved can accurately be determined without requiring any specific sensors or the like. More specifically, the forces involved can be determined with regard to their dimensions or magnitudes as well as to their directions. Also, torque can be determined, e.g. in three perpendicular axes, and, eventually, differentiated from other forces. Like this, the forces can precisely be determined such that they can be used for many advantageous purposes. Further, the manipulating device can be comparably simply set up without requiring plural additional components such as force sensors including cables and the like. This additionally allows to design the manipulating device comparably compact such that it is particularly suitable for being used at comparably small scales.

[0044] The processing unit preferably is configured to evaluate positions of the two bodies of each of the at least one manipulating member when evaluating the elastic movement of the at least one manipulating member. The actual positions can be evaluated relative to the zero or neutral positions such that a change in position can be determined. The positions of the bodies are representative for the shape and deformation of the at least one manipulating member. Thus, monitoring and evaluating the positions of the bodies allows for efficiently determining deformation. [0045] The elastic movement of the at least one manipulating member preferably is or comprises a deformation of the at least one manipulating member. Thus, advantageously the at least one manipulating member is elastic. Such manipulating member allows for an efficient and accurate determination of the manipulating force.

[0046] Preferably, the processing unit is configured to determine the manipulating or holding force on the basis of pre-collected force data. Such deterministic evaluation can be particularly efficient.

[0047] Thereby, the processing unit preferably is configured to determine the manipulating force on the basis of pre-collected force data by applying a pre-trained machine learning algorithm. By such pre-trained processing unit an efficient determination of the forces involved is possible.

[0048] Alternatively or additionally, the manipulation or holding force can also be determined based on a simulation of the manipulating member such as on a finite element method (FEM) simulation. Such simulation may be beneficial if the process and materials used are well known.

[0049] Thereby, in another aspect, the invention is a method of manufacturing or of calibrating or of preparing the manipulating device, wherein the method comprises a step of training a processing unit with known manipulating forces, e.g., in the form of pre-collected data. In particular, the training of the processing unit can be embodied by training a machine learning algorithm or fitting model executed by the processing unit with known forces, particularly, known manipulating forces such as holding forces. During training, the force can be measured by a separate force sensor, torque sensor or force/torque (6DoF) sensor. The data collected thereby can be fed to the machine learning algorithm of the processing unit.

[0050] Preferably, in the method according to the invention, training the processing unit with known manipulation forces comprises measuring manipulation forces, determining an extent of elastic movement of the at least one manipulating member for the measured manipulation forces and associating the determined extents of elastic movement of the at least one manipulating member to the related manipulation forces.

[0051] Thereby, the processing unit preferably is trained with the determined extents of elastic movement of the at least one manipulating member and the associated manipulation forces. By using both, extents of elastic movement and associated manipulation forces, for training the processing unit a particular efficient correlation between measured forces and related elastic movements can be made. The elastic movement of the can be efficiently determined by measuring a position of the at least one marker of the manipulation member.

[0052] Training the processing unit with known manipulation forces preferably comprises generating a linear regression between the determined extents of elastic movement of the at least one manipulating member and the associated manipulation forces. Such linear regression allows for efficiently training the processing unit over a range of application or a range of forces to be covered.

[0053] In embodiments having plural manipulation members, the manipulation forces and extents of movement advantageously may be measured and determined for each manipulation member separately.

[0054] Preferably, the manipulation forces are measured in three perpendicular directions. Similarly, the extents of elastic movement of the at least one manipulating member are determined in three perpendicular directions. Such evaluation along three axes allows for efficiently correlating the forces and elastic movements in an accurate fashion. Furthermore, it allows to use comparably simple and efficient sensors.

[0055] Preferably, the manipulating device comprises a drive wherein the body unit is mounted stationarily on the drive and wherein the manipulating device is configured to actuate the at least one manipulating member of the work tool by operating the drive. The drive can be or comprise a motor. In particular, the drive can be or comprise a stepper motor which may be beneficial with regard to knowing its current position as this can be derived based on the currents sent to the motor. Such drive allows for an efficient and precise automatic or semi-automatic operation of the manipulating member, e.g., for gripping or grasping. The drive can be connected to the processing unit such that the processing unit can control and operate the drive.

[0056] In this context, it is to note that a manipulation device with a drive as described above and below may be beneficial independent from the camera. Such an advantageous manipulating device not including a camera may be embodied as follows: The manipulating device comprises a body unit, a drive and a work tool. The work tool comprises a base and at least one manipulating member elastically movable relative to the base and having an object contact section. The manipulating device defines a FoV of the camera. The object contact section of the at least one manipulating member of the work tool is in the FoV of the camera.

[0057] The preferred embodiments and features described below and above may be embodied in the manipulating device according to the invention as well as in the manipulating device having the drive but no camera as described hereinbefore.

[0058] The manipulating device having the drive (with or without camera preferably comprises a worm screw, wherein each of the at least one manipulating member of the work tool has a worm gear portion, wherein the drive is coupled to the worm screw such that the drive rotates the worm screw when operated and wherein the worm screw engages the worm gear portion(s) of the at least one manipulating member. Such gear structure allows for precisely actuating the manipulating member(s) of fingers with a comparably simple construction.

[0059] In addition to actuation of the manipulating member(s), such worm screw configuration allows to firmly mount the work tool. In particular, the pressing force mentioned above can be applied by the worm screw configuration such that clearance and/or backlash between the work tool and the body unit can be minimized.

[0060] Thereby, the worm screw preferably has a central axis about which the worm screw is rotatable by the drive, wherein the worm screw is equipped with an axial bore extending along the central axis and wherein the camera is at least partially positioned inside the axial bore of the worm screw. Such arrangement allows for a compact design such that the manipulating device may be used for small scale operation. The axial bore also allows to pass a camera signal cable from the camera through the worm screw and the motor shaft which may avoid excessive bending of the typically fragile camera signal cable.

[0061] In such embodiments, alternatively to the camera being mounted stationarily on the body unit, the camera can be stationarily mounted on the worm screw. The images or videos generated can then be corrected as to any rotation of the camera itself, e.g., by an appropriate computer program or software. [0062] In embodiments of the manipulating device having more than one manipulating member or finger, teeth of the worm gear portion of each of the manipulating members of the work tool preferably are axially offset relative to teeth of the worm gear portions of the others of the manipulating members of the work tool such that in each rotational position of the worm screw the manipulating members of the work tool are bent towards each other to an essentially identical extent. In this connection, the term “axially offset” relates to an axis of the worm screw. By such teeth offset configuration, the manipulating members can regularly or symmetrically be actuated.

[0063] In a zero position - when the at least one manipulating member of the work tool is not actuated or operated, the at least one manipulating member of the work tool is pre-tensioned. The pretension of the manipulating member(s) allows for preventing clearance and/or backlash between the at least one manipulating member and the drive such that precision of operation and of manipulating member deformation can be increased. This allows for a particularly accurate operation and handling of the object. Further, the pretension allows for tightly and firmly holding the work tool.

Brief

of the

[0064] The manipulating device according to the invention and the method according to the invention are described in more detail hereinbelow by way of exemplary embodiments and with reference to the attached drawings, in which:

Fig. 1 shows a perspective view of an embodiment of a gripper device as manipulating device according to the invention;

Fig. 2 shows an exploded view of the gripper device of Fig. 1 ;

Fig. 3 shows a side view of the gripper device of Fig. 1 ;

Fig. 4 shows a top view of the gripper device of Fig. 1 ;

Fig. 5 shows a side view of the gripper device of Fig. 1 before a gripping tool as work tool thereof is coupled;

Fig. 6 shows a side view of the gripper device of Fig. 1 in a first step of coupling the gripping tool;

Fig. 7 shows a side view of the gripper device of Fig. 1 in a second step of coupling the gripping tool;

Fig. 8 shows a side view of the gripper device of Fig. 1 in a zero position with the gripping tool being fully coupled; and Fig. 9 shows a side view of the gripper device of Fig. 1 in with fingers of the gripping tool being activated to grasp an object.

Description of Embodiments

[0065] In the following description certain terms are used for reasons of convenience and are not intended to limit the invention. The terms “right”, “left”, “up”, “down”, “under" and “above" refer to directions in the figures. The terminology comprises the explicitly mentioned terms as well as their derivations and terms with a similar meaning. Also, spatially relative terms, such as "beneath", "below", "lower", "above", "upper", "proximal", "distal", and the like, may be used to describe one element's or feature's relationship to another element or feature as illustrated in the figures. These spatially relative terms are intended to encompass different positions and orientations of the devices in use or operation in addition to the position and orientation shown in the figures. For example, if a device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be "above" or "over" the other elements or features. Thus, the exemplary term "below" can encompass both positions and orientations of above and below. The devices may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein interpreted accordingly. Likewise, descriptions of movement along and around various axes include various special device positions and orientations.

[0066] To avoid repetition in the figures and the descriptions of the various aspects and illustrative embodiments, it should be understood that many features are common to many aspects and embodiments. Omission of an aspect from a description or figure does not imply that the aspect is missing from embodiments that incorporate that aspect. Instead, the aspect may have been omitted for clarity and to avoid prolix description. In this context, the following applies to the rest of this description: If, in order to clarify the drawings, a figure contains reference signs which are not explained in the directly associated part of the description, then it is referred to previous or following description sections. Further, for reason of lucidity, if in a drawing not all features of a part are provided with reference signs it is referred to other drawings showing the same part. Like numbers in two or more figures represent the same or similar elements.

[0067] Fig. 1 shows an embodiment of a gripper device 1 as a manipulating device according to the invention. The gripper device 1 comprises a body unit 3, a stepper motor 2 as drive, a camera 5, a processing unit 7, a worm screw 6 and an exchangeable gripping tool 4 as work tool.

[0068] The body unit 3 has a base support 32 from which a holding frame 31 upwardly extends. The base support 32 is fixed to an upper end of the motor 2 such that the body unit 3 and the motor 2 are mounted stationarily to each other. The motor 2 has a connection block 22 receiving power cables 222 and a control cable 221. The control cable 221 is connected to the processing unit 7 such that the processing unit 7 is in communication with the motor 2 and the camera 5. Like this, the processing unit 7 can control operation of the gripping tool 4 for grasping an object as described in more detail below.

[0069] As can be best seen in Fig. 2, the motor 2 comprises a drive shaft 21 to which the worm screw 6 is mounted. Like this, the motor 2 is coupled to the worm screw 6 such that the motor 2 rotates the worm screw 6 about a central axis when operated. The worm screw 6 is equipped with an outer helical thread 62 and an axial bore 61 extending along the central axis. The camera 5 has a connecting stud 51 in communication with the control cable 211. The camera 5 is partially positioned inside the axial bore 61 of the worm screw 6.

[0070] The holding frame 31 of the body unit 3 has three bent arms which form a recess for the camera 5. In particular, the three arms 31 fixedly hold the camera 5 such that the camera 5 is stationarily mounted to the body unit 3 in an upright position. At an outer circumference the body unit 3 is equipped with mating members 33 as first coupling structure. The mating members 33 are formed as radial projections upwardly tapering.

[0071] The monolithical gripping tool 4 has an essentially ring-shaped base 41 from which three fingers 42 as manipulating members upwardly extend. The gripping tool 4 comprises three cross strip hinges 43 as flexure hinges, each connecting one of the fingers 42 to the base 41 .

[0072] Below the fingers 42, two mating recesses 44 distributed about the circumference are arranged as second coupling structure. As can be best seen in Fig. 3, the mating recesses 44 are downwardly widening such that they suit or mate to the mating members 33 of the body unit 3. When the gripping tool 4 is coupled to the body unit 3, the mating members 33 are arranged inside the mating recesses 44. Thereby, the extent of tapering of the mating members 33 is slightly different from the extent of the widening of the mating recesses 44. Like this, it is achieved that the base 41 of the gripping tool 4 is immovably blocked on the body unit 3 and firmly connected. Clearance and backlash between the gripping tool 4 and the body unit 3 is minimized or eliminated.

[0073] Turning to Fig. 1 and Fig. 2, each of the three fingers 42 has a lower posture finger portion 421 adjoining the associated cross strip hinge 43 and an upper spring finger portion 422. From each of the posture finger portions 421 an inwardly and downwardly extending worm screw portion 425 projects. The worm screw portions 425 are designed as wheel sections 4251 equipped with projecting teeth 4252. When the gripping tool 4 is coupled to the body unit 3, the teeth 4252 engage the thread 62 of the worm screw 6.

[0074] The spring finger portion 422 comprises two opposingly bent leaf members 4221 to provide appropriate elasticity. In particular, by means of the leaf members 4221 the spring finger portion 422 is easier elastically deformable than the posture finger portion 421 which is comparably rigid.

[0075] The structure of the fingers 42 provide for two main movements. A first main movement is a tilting about the cross strip hinges 43 and a second main movement is a deformation of the spring finger portions 422.

[0076] At an upper end, each of the spring finger portions 422 passes over into a tip 424 connecting the two associated leaf members 4221 . Each of the sides of the tips 424 facing each other form an essentially flat object contact section 4241 .

[0077] Each leaf member 4221 is equipped with a sphere 4231 of a marker arrangement 423. As can be best seen in Fig. 3, the spheres 4231 of each spring finger portion 423 are axially offset.

[0078] In Fig. 4 the gripper device is shown top down. Thereby, it can be seen that all spheres 4231 are tangentially offset to each other wherein each two spheres 4231 of one spring finger portion 423 are radially offset to each other. [0079] Furthermore, the camera 5 is centrally arranged in the gripper device 1. More specifically, it is upwardly oriented such that its field of view covers the object contact sections 4241 of the tips 424 of the fingers 42, when the gripping tool 4 is coupled to the body unit 3. By the fingers 42 being convexly bent, the field of view of the centrally positioned camera 5 is between the fingers 42 and held free to an appropriate extent.

[0080] Even though in the Figs, a specific beneficial gripping tool 4 is shown, other gripping tools can be used in the gripper device 1 as well. For example, the number of fingers 42 can be chosen in accordance with the particular objects to grasp. For being suitable to use different gripping tools, the gripper device 1 is embodied to exchange the gripping tool 4. In Figs. 5 to 8 a coupling of the gripping tool 4 to the body unit is shown in more detail to illustrate coupling of the gripping tool 4 to the body unit 3.

[0081] In particular, Fig. 5 shows the gripping tool 4 before coupling distant from the other components of the gripper device 1 and specifically distant from the body unit 3. The gripping tool 4 is positioned above the body unit 3 oriented with its base 41 down.

[0082] In Fig. 6, the gripping tool 4 is shown in a first coupling step. Thereby, the gripping tool 4 is put top down onto the body unit 3. The ring-shaped base 41 is arranged around the holding frame 31 of the body unit and an upper portion of the worm screw 6. Thereby, the teeth 4252 of the worm screw portions 425 abut the top winding of the thread 62 of the worm screw 6.

[0083] In a next step shown in Fig. 7, the worm screw 6 is rotated such that the worm screw portions 425 are screwed onto the worm screw 6 until the base 41 abuts the body unit 3. Thereby, the mating members 33 of the body unit are pressed into the mating recesses 44 of the body unit 3. Like this, the gripping tool 4 is firmly held on the body unit 3. A preliminary distance D-i between tips 424 of the fingers 42 is essentially the same as prior the gripping tool 4 being coupled to the body unit 3.

[0084] Fig. 8 shows the gripper device 1 in a zero position ready for operation. Compared to Fig. 7, the worm screw is further rotated such that the worm screw portions 425 are further screwed on the worm screw 6. Since the base 41 abuts the body unit 3, further axial movement of the gripping tool 6 is prevented. Rather, the further screwing motion slightly tilts the fingers 42 about the cross strip hinges 43 in an inward direction. Like this, the tips 424 are narrowed towards each other until they are in a zero distance Do relative to each other. In this zero position, the fingers are slightly pre-tensioned such that a clearance and/or backlash between the gripping tool 4 and the worm screw 6 as well as between the gripping tool 4 and the body unit 3 is minimized or eliminated. The zero distance Do is smaller than the preliminary distance D.1.

[0085] In operation, as shown in Fig. 9, by the motor 2 rotating the worm screw 6 the fingers 42 are moved towards each other or away from each other, depending on the direction of rotation. In particular, Fig. 9 shows the fingers 42 in a grasping position in which the tips 424 of the fingers 42 are comparably close to each other.

[0086] As can be best seen in Fig. 3, for taking into account the inclination of the thread 62 of the worm screw 6, the teeth 4251 of the three fingers 42 are axially offset with respect to an axis of the worm screw 6. Like this, it is achieved that an identical tilting of the fingers 42 about the cross strip hinges 43 is provided when rotating the worm screw 6.

[0087] In operation of the gripper device 1 , the camera 5 collects image data and provides it to the processing unit 7 via the control cable 211. In addition to monitoring the handling of the fingers 42 and the grasped objects, the processing unit 7 is configured to obtain the image data collected by the camera 5 and to determine a holding force as manipulating force between the fingers 42 by evaluating a deformation of the fingers 52 based on the obtained image data. In particular, the positions of the two spheres 4231 of each of the fingers 42 relative to each other are used to evaluate the deformation of the fingers 4. By the specific deformation of the fingers 42, the processing unit 7 calculates the holding force.

[0088] For determining the holding force, the processing unit 7 applies a pre-trained machine learning algorithm. In particular, the processing unit 7 is pre-trained by an embodiment of a method according to the invention. The machine learning algorithm executed by the processing unit is trained with known holding forces. These known holding forces are measured by a separate sensor. The data collected thereby are fed to the machine learning algorithm of the processing unit 7.

[0089] This description and the accompanying drawings that illustrate aspects and embodiments of the present invention should not be taken as limiting-the claims defining the protected invention. In other words, while the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. Various mechanical, compositional, structural, electrical, and operational changes may be made without departing from the spirit and scope of this description and the claims. In some instances, well-known circuits, structures and techniques have not been shown in detail in order not to obscure the invention. Thus, it will be understood that changes and modifications may be made by those of ordinary skill within the scope and spirit of the following claims. In particular, the present invention covers further embodiments with any combination of features from different embodiments described above and below.

[0090] The disclosure also covers all further features shown in the Figs, individually although they may not have been described in the afore or following description. Also, single alternatives of the embodiments described in the figures and the description and single alternatives of features thereof can be disclaimed from the subject matter of the invention or from disclosed subject matter. The disclosure comprises subject matter consisting of the features defined in the claims or the exemplary embodiments as well as subject matter comprising said features.

[0091] Furthermore, in the claims the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. A single unit or step may fulfil the functions of several features recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. The terms “essentially”, “about”, “approximately” and the like in connection with an attribute or a value particularly also define exactly the attribute or exactly the value, respectively. The term “about” in the context of a given numerate value or range refers to a value or range that is, e.g., within 20%, within 10%, within 5%, or within 2% of the given value or range. Components described as coupled or connected may be electrically or mechanically directly coupled, or they may be indirectly coupled via one or more intermediate components. Any reference signs in the claims should not be construed as limiting the scope.

Claims

Claim 1 : A manipulating device (1 ) for manipulating an object, comprising: a body unit (3), a camera (5) and a work tool (4), wherein the work tool (4) comprises a base (41 ) and at least one manipulating member (42) elastically movable relative to the base and having an object contact section (4241 ), wherein the manipulating device defines a field of view of the camera, and wherein the object contact section (4241 ) of the at least one manipulating member (42) of the work tool (4) is in the field of view of the camera (5).

Claim 2: The manipulating device (1 ) of claim 1 , wherein the camera (5) is mounted stationarily on the body unit (3).

Claim 3: The manipulating device (1) of claim 1 or 2, wherein the body unit (3) has a first coupling structure (33), the work tool (4) has a second coupling structure (44) mating the first coupling structure (33) of the body unit (3) and the object contact section (4241 ) of the at least one manipulating member (42) of the work tool (4) is in the field of view of the camera (5) when the work tool (4) is coupled to the body unit (3) by the first coupling structure (33) of the body unit (3) mating the second coupling structure (44) of the work tool (4).

Claim 4: The manipulating device (1) of any one of the preceding claims, wherein the work tool (4) is monolithically formed.

Claim 5: The manipulation device (1) of any one of the preceding claims, wherein the work tool (4) is additively manufactured.

Claim 6: The manipulating device (1) of any one of the preceding claims, wherein each of the at least one manipulating member (42) of the work tool (4) is connected to the base (41 ) of the work tool (4) via a flexure hinge (43) such that the manipulating member (42) can be tilted about the associated flexure hinge (43).

Claim 7: The manipulating device (1 ) of claim 6, wherein the flexure hinge (43) is a cross strip hinge.

Claim 8: The manipulating device (1) of any one of the preceding claims, wherein each of the at least one manipulating member (42) of the work tool (4) has a marker arrangement (423) positioned in the field of view of the camera (5).

Claim 9: The manipulating device (1) of claim 8, wherein the marker arrangement (423) of each of the at least one manipulating member (42) of the work tool (4) comprises two bodies (4231 ) being located distant from each other.

Claim 10: The manipulating device (1) of any one of the preceding claims, wherein the at least one manipulating member (42) of the work tool (4) comprises two elastic fingers (42) each projecting from the base (41 ), wherein one of the two elastic fingers (42) has the object contact section (4241) and another one of the two elastic fingers (42) has another object contact section (4241 ).

Claim 11 : The manipulating device (1 ) of claim 10, wherein each of the elastic fingers (42) of the work tool (4) has a posture finger portion (421 ) and a spring finger portion (422), wherein the spring finger portion (422) is easier elastically deformable than the posture finger portion (421 ).

Claim 12: The manipulating device (1) of claim 11 , wherein each spring finger portion (422) of the elastic fingers (42) of the gripping tool (4) comprises a leaf spring.

Claim 13: The manipulating device (1) of claim 9 and of claim 11 or 12, wherein each of the spring finger portions (422) of the elastic fingers (42) of the gripping tool (4) is equipped with the two bodies (4231 ). Claim 14: The manipulating device (1) of any one of the preceding claims, comprising a processing unit (7) connected to the camera, wherein the processing unit (7) is configured to obtain image data collected by the camera (5) and to determine a manipulating force of the at least one manipulating member (42) of the work tool (4) by evaluating an elastic movement of the at least one manipulating member (42) based on the obtained image data.

Claim 15: The manipulating device (1) of any one of claims 9 to 13 and of claim

13, wherein the processing unit (7) is configured to evaluate positions of the two bodies (4231 ) of each of the at least one manipulating member (42) when evaluating the elastic movement of the at least one manipulating member (42).

Claim 16: The manipulating device (1) of claim 14 or 15, wherein the elastic movement of the elastic movement of the at least one manipulating member (42) comprises a deformation of the at least one manipulating member (42).

Claim 17: The manipulating device (1) of any one of claims 14 to 16, wherein the processing unit (7) is configured to determine the manipulating force on the basis of pre-collected force data.

Claim 18: The manipulating device (1) of claim 17, wherein the processing unit (7) is configured to determine the manipulating force on the basis of pre-collected force data by applying a pre-trained machine learning algorithm.

Claim 19: The manipulating device (1) of any one of the preceding claims, comprising a drive (2) wherein the body unit (3) is mounted stationarily on the drive (2) and wherein the manipulating device (1 ) is configured to actuate the at least one manipulating member (42) of the work tool (4) by operating the drive (2).

Claim 20: The manipulating device (1) of claim 19, comprising a worm screw (6), wherein each of the at least one manipulating member (42) of the work tool (4) has a worm gear portion (425), wherein the drive (2) is coupled to the worm screw (6) such that the drive (2) rotates the worm screw (6) when operated and wherein the worm screw (6) engages the worm gear portions (425) of the at least one manipulating member (42). Claim 21 : The manipulating device (1 ) of claim 20, wherein the worm screw (6) has a central axis about which the worm screw (6) is rotatable by the drive (2), wherein the worm screw (6) is equipped with an axial bore (61 ) extending along the central axis and wherein the camera (5) is at least partially positioned inside the axial bore (61 ) of the worm screw (6).

Claim 22: The manipulating device (1 ) of claim 20 or 21 , wherein teeth (2452) of the worm gear portion (425) of each of the at least one manipulating member (42) of the work tool (4) are axially offset relative to teeth (2452) of the worm gear portions (425) of the others of the at least one manipulating member (42) of the work tool (4) such that in each rotational position of the worm screw (6) the at least one manipulating member (42) of the work tool (4) are bent towards each other to an essentially identical extent.

Claim 23: The manipulating device (1 ) of any one of claims 19 to 22, wherein in a zero position when the at least one manipulating member (42) of the work tool (4) are not actuated to grasp the object, the at least one manipulating member (42) of the work tool (4) is pre-tensioned.

Claim 24: The manipulation device (1) of any one of the preceding claims, comprising a light source configured to illuminate the field of view of the camera (5).

Claim 25: A method of manufacturing a manipulating device (1 ) according to any one of claims 14 to 24 comprising a step of training the processing unit (7) with known manipulating forces.

Claim 26: The method of claim 25, wherein training the processing unit (7) with known manipulation forces comprises measuring manipulation forces, determining an extent of elastic movement of the at least one manipulating member (42) for the measured manipulation forces and associating the determined extents of elastic movement of the at least one manipulating member (42) to the related manipulation forces. Claim 27: The method of claim 26, wherein the processing unit (7) is trained with the determined extents of elastic movement of the at least one manipulating member (42) and the associated manipulation forces.

Claim 28: The method of claim 26 or 27, wherein training the processing unit (7) with known manipulation forces comprises generating a linear regression between the determined extents of elastic movement of the at least one manipulating member (42) and the associated manipulation forces.

Claim 29: The method of any one of claims 26 to 28, wherein the manipulation forces are measured in three perpendicular directions.

Claim 30: The method of any one of claim 26 to 29, wherein the extents of elastic movement of the at least one manipulating member (42) are determined in three perpendicular directions.