HOLDING DEVICE

Abstract

The invention provides a holding device comprising a locking member having a longitudinal axis, an external surface and a first end, an actuator for displacing said locking member along its longitudinal axis between a holding position and a released position, a guiding part, for engaging said external surface of said locking member and guiding its displacement functionally along its longitudinal axis, and an alignment sensor for detecting alignment with another device having a complementary guiding part, complementary with said locking member, said alignment sensor functionally coupled with said actuator for displacing said locking member when alignment with said complementary guiding part is sensed.

Claims

1. A holding device for locking, said holding device comprising: a locking member having a longitudinal axis, an external surface and a first end; an actuator for displacing said locking member along its longitudinal axis between a holding position and a released position; a guiding part, for engaging said external surface of said locking member and guiding its displacement functionally along its longitudinal axis, and an alignment sensor for detecting alignment with another device having a complementary guiding part, complementary with said locking member, said alignment sensor functionally coupled with said actuator for allowing displacing said locking member when alignment with said complementary guiding part is sensed.

2. The holding device of claim 1, wherein said alignment sensor is functionally coupled for activating said actuator for displacing said locking member at the sensing of alignment.

3. The holding device of claim 1, wherein the alignment sensor is selected from a passive or active sensor, in an embodiment said alignment sensor is an active sensor comprising a transmitter for transmitting a signal and a receiver for receiving a return signal or feedback from another device, in particular said alignment sensor comprises a coil for providing one selected from a magnetic field, a light source, and a combination thereof.

4. The holding device of claim 1, wherein said actuator is adapted for rotating said locking member around or about its longitudinal axis for said displacing.

5. The holding device of claim 1, further comprising: a light guiding part extending in at least part of said locking member, extending functionally parallel to said longitudinal axis, and having a first light guiding part end at said first locking member end; a light source for optically coupling light into said light guiding part for providing light source light at said first light guiding part end, and a light detector, optically coupled to said light guiding part for detecting light entering said light guiding part at said first light guiding part end.

6. The holding device of claim 1, wherein said actuator comprises a piezo drive element, in particular a linear piezo drive element, more in particular said piezo drive element at least partially surrounding said locking member for exerting an ultrasonic vibration for displacing said locking member.

7. The holding device of claim 1, wherein said locking member comprises an electrically conductive part, in part comprising a lead through said locking member for providing an electrical coupling to said other device.

8. The holding device of claim 1, wherein said holding device is adapted for locking with another, similar holding device.

9. The holding device of claim 1, wherein said locking member engaging said guiding part.

10. The holding device of claim 1, wherein said actuator is linked to said guiding part to allow said locking member to displace along its longitudinal axis, in particular to displace longitudinally.

11. The holding device of claim 1, wherein at least a part of said actuator is coupled to said guiding part, in particular an end of said actuator is coupled to said guiding part, more in particular its opposite end is free to vibrate.

12. An element, said element being three-dimensional and comprising at least one face, said face comprising at least one holding device of claim 1, adapted for interacting with a functionally aligned similar holding device of a further element, said locking member of said holding device in said holding state engaged with said aligned similar holding device of said further element for holding said element positioned with respect to said further element, and in said released state with said locking member disengaged from said aligned similar holding device.

13. A method for holding objects together using holding devices, each holding device comprising: a locking member having a longitudinal axis, an external surface and a first end; an actuator for displacing said locking member along its longitudinal axis between a holding position and a released position; a guiding part, for engaging said external surface of said locking member and guiding its displacement functionally along its longitudinal axis; an alignment sensor for detecting alignment with another device having a complementary guiding part, complementary with said locking member, said alignment sensor functionally coupled with said actuator for allowing displacing said locking member when alignment with said complementary guiding part is sensed; a light guiding part extending in at least part of said locking member, extending functionally parallel to said longitudinal axis, and having a first light guiding part end at said first locking member end; a light source for optically coupling light into said light guiding part for providing light source light at said first light guiding part end; and a light detector, optically coupled to said light guiding part for detecting light entering said light guiding part at said first light guiding part end; the method comprising, for a first object comprising a first holding device and a second object comprising a second holding device, said first holding device: determining alignment with said second holding device using transmission of light from its light source through its light guiding part and detecting light from its light guiding part using its light detector; and activating its actuator for displacing its locking member into the guiding part of said second holding device.

14. A method for holding objects together using holding devices, each holding device comprising: a locking member having a longitudinal axis, an external surface and a first end; an actuator for displacing said locking member along its longitudinal axis between a holding position and a released position; a guiding part, for engaging said external surface of said locking member and guiding its displacement functionally along its longitudinal axis; an alignment sensor for detecting alignment with another device having a complementary guiding part, complementary with said locking member, said alignment sensor functionally coupled with said actuator for allowing displacing said locking member when alignment with said complementary guiding part is sensed; a light guiding part extending in at least part of said locking member, extending functionally parallel to said longitudinal axis, and having a first light guiding part end at said first locking member end; a light source for optically coupling light into said light guiding part for providing light source light at said first light guiding part end; and a light detector, optically coupled to said light guiding part for detecting light entering said light guiding part at said first light guiding part end; the method comprising, for a first object comprising a first holding device and a second object comprising a second holding device: said first holding device transmitting light from its light source through its light guiding part; said second holding device receiving said transmitted light via its light guiding part on its light detector; said second holding device activating its actuator for displacing its locking member in longitudinal direction away from said first holding device for freeing its guiding part; said second holding device sending a signal to said first holding device when its guiding part is free for receiving a locking member; and in response to said signal from said second holding device, said first holding device activating its actuator for displacing its locking member into the guiding part of said second holding device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0413] Embodiments of the invention will now be described, by way of example only, with reference to the accompanying schematic drawings in which corresponding reference symbols indicate corresponding parts, showing an embodiment of a construction element, and showing in:

[0414] FIGS. 1A-1F a perspective view showing several subsequent steps of an example of mutual displacement of three elements;

[0415] FIGS. 2A-2E a perspective view of several subsequent steps of another example of mutual displacement of in this case four cube-shaped elements;

[0416] FIGS. 3A-3P a perspective view of several subsequent steps of another example of mutual displacement of in this case 18 cube-shaped elements, and in FIGS. 3N-3P 26 elements;

[0417] FIGS. 4A-7D relate to various possible motion modules, motion guiding modules, motion-restriction modules and combinations thereof, in which in particular:

[0418] FIG. 4A-4L shows a combined motion module, motion-guiding module and motion-restriction module;

[0419] FIG. 5A-5C show a motion module based upon magnetic forces;

[0420] FIG. 6A-6D shows a separate motion module and motion-guiding module;

[0421] FIGS. 7A-7D show an alternative combination of motion module, motion-guiding module and motion-restriction module based upon piezo-elements;

[0422] FIG. 8 shows a schematic drawing showing modules that may be present in an element, and the interconnection between modules;

[0423] FIGS. 9A-9K Show the use of a separate, shared motion module;

[0424] FIGS. 10A-10H show a motion module that can change its orientation inside an element;

[0425] FIG. 11 shows an element that is going to be grabbed or was just released from a grip;

[0426] FIG. 12 an element with a sensing means comprising a position sensor;

[0427] FIG. 13 two holding devices in released position with respect to one another;

[0428] FIG. 14 the holding devices of FIG. 13, with the lower holding device in locking position;

[0429] FIG. 15 the holding devices of FIG. 13, with the lower holding device in locking position.

[0430] The drawings are not necessarily on scale.

DESCRIPTION OF PREFERRED EMBODIMENTS

[0431] The current holding device can be used to hold objects in position with respect to one another. The holding device may furthermore, as explained, support or enable or provide one selected from data transfer, alignment, position detection, power transfer, and a combination thereof. Examples of the holding device may be incorporated into elements that will first be elaborated in more detail. The holding device will be further elaborated in FIGS. 13-15.

[0432] In this detailed description of embodiments, elements have a general reference number 1, and will individually be indicated with letters a, b, . . . in order to distinguish them from one another. In the discussion, the reference number 1 will be left out when referring to element a, b, etc. The elements a, b, . . . can be identical. They can also differ in shape or functionality. The elements have a centre 2 (only indicated in element b of FIG. 1A). This centre can in general be a centre of mass (also referred to as centre of gravity), or alternatively a geometrical centre (also referred to as centroid) of an object. If an element has a uniform density, the centre of mass is the same as the centroid.

[0433] Each element 1 can have one or more faces 3 that are adapted to allow an element 1 to be positioned on or against another element 1. In particular, the one or more faces 3 can be adapted to allow elements 1 to displace with respect to one another with the surfaces of face 3 in contact or almost in contact. In this detailed description, however, other options will also be demonstrated.

[0434] First, some examples of elements and displacement of elements with respect to one another will be demonstrated.

[0435] In FIGS. 1A-1F, three elements a, b, and c are of a triangular shape. In this embodiment, each element 1 has at least one face 3 with a surface that allows the elements to be in contact with one another and to displace with respect to one another over the surface of these faces 3. This at least one face 3 of elements 1 thus have a surface 3 that is adapted to allow for an element a, b, c to displace over another element a, b, c. In element b, a centre 2 is indicated. For the discussion, the nature of this centre 2 is not important: A centre 2 has a fixed position in its corresponding element 1.

[0436] FIGS. 1A-1F show an example six subsequent steps of element c with respect to elements a and b. Elements a and b remain at the same position and orientation with respect to one another.

[0437] In FIG. 1A, starting positions of elements a-c are depicted. Element c starts from a position in which it is in contact with the surface of one face of element a only. Element c starts to move to the right side of the paper. In FIG. 1B, element c is moving to the right and is positioned between elements a and b, and continues to move to the right-hand side of the drawing. In FIG. 1C, element c is no longer in contact with element a, Element c now is in contact with the surface of a face 3 of element b only. Element c continues to move to the right side over the surface of face 3 of element b, and in FIG. 1D it arrives at an end of the surface of face 3 of element b. Element c is able to move on to the right and in FIG. 1E, it arrives at a position depicted. In this position, halve the area of the surface of face 3 contacts the surface of face 3 of element b. Element b now starts moving in a direction into the paper and cross with respect to the earlier direction.

[0438] In FIG. 1F, element c is shown in a rest position. In this position, a surface of face 3 is only partly in contact with the surface of face 3 of element b.

[0439] In the example of FIGS. 1A-1F, the elements a-c exert forces on one another using the motion modules, motion-guiding modules and/or motion-restriction modules. These forces can be exerted mechanically, using electromagnetic forces, using chemical forces, and any other physical forces, or a combination of these. In case of a chemical force, a potential use of a reversible process which for example does not leave traces on a surface may prolong the usability for future movement along such a surface. When describing the movement phases it must be understood that movement may vary in speed and acceleration. Even an interrupted sequence of move, no move and move again is possible. When moving or not moving, an element may withstand one or more forces exerted upon that element (internal or external) selected from the group consisting of for example gravitational force, mechanical force, electrical force, chemical force and climate forces. A potential use for an element is for example on a different planet, in a fluid or in a vacuum like outer space.

[0440] Alternatively, element c is held on elements a and b via a mechanical means or via for instance magnetic force. In this example, the surfaces of the faces 3 of the elements a-c may actually be in contact with one another. Below, various embodiments of motion modules, motion-guiding modules, and motion-restriction modules are illustrated and which may be used for the motion shown in FIGS. 1A-1F.

[0441] In the example of FIGS. 2A-2E, four elements 1, indicated a-d, are shown. These elements a-d displace with respect to one another. The elements 1 in this example are identically shaped cubes. In this example, the faces of the cubes are solid surfaces and the cubes rest on each other's solid surface and can be under the influence of a gravitational field. A starting position of the elements a-d is indicated in FIG. 2A. If the displacement action indicated in FIGS. 2A-2E would be repeated, the construction of four elements a-d as a whole moves to the right.

[0442] In FIG. 2A, element a starts displacing along a surface of face 3 of element b in an upward direction. Element a thus displaces towards element d. In fact, centre 2 of element a moves away from the centre of element b and gets closer to the centre of element d when it moves in the upward direction.

[0443] In FIG. 2B, element a arrived at a position closest to the centre of element d. Element a now no longer contacts element b. Now, elements a and d together start displacing to the right side of the paper. This may be done in several ways: Element a may couple to element d, and a motion module of either element d or element b starts acting on element d in the direction of (intended) motion. This results in a motion of elements a and d. When elements a and d displaced so much to the right that a surface of face 3 of element a now contacts part of the face 3 of element b. Now part of a motion module of element a may engage part of a motion module of element b. In such a stage, the combined motion of elements a and d may be caused using the motion module of element a, element b or element d, or combinations of these motion modules.

[0444] In FIG. 2C, elements a and d are exactly on top of elements b and c. Elements a and d continue to displace together to the right until the situation depicted in FIG. 2D is reached. There, elements a and d stop. Now, element d starts displacing in a downward direction, with its centre moving away from the centre of element a and towards the centre of element c. Again, this motion can be caused by the action of a motion module of element a, of element c or element d, or a combined effort of any of these motion modules.

[0445] In FIG. 2E, the elements a-d are in fact in a similar external configuration. Thus, in fact the same construction as in FIG. 2A results, but displaced to the right with a displacement which equals the length of a side of an element. Next to having displaced elements a-d another additional aspect of the invention will be described: transportation. When an object is temporarily coupled to element a, for example placing a basket with material on top or inside element a; element a now uses it's own or the other elements movement ability to transport this other object from one position to another position. Alternatively, an element may comprise a build-in storage space. Thus, the element may functionally be or comprise a container for holding material.

[0446] In FIGS. 3A-3H, a construction of 18 elements 1 in fact changes its shape by moving elements with respect to one another. All the elements have an identical shape. The functionality of the elements may differ. Thus, the functionality of the new construction may also differ.

[0447] In the arrangement of 18 elements 1, the top 9 elements are indicated a-i. In order to get to a new arrangement of these elements depicted in FIG. 3H, many schemes are possible. FIGS. 3B-3G show several intermediate arrangements of the elements. One of these possible schemes is to first displace the complete row d-f two positions to the left (FIG. 3C), then displace element c to the left until its centre is closest to element e (FIG. 3D), then displace element f in a position where its centre is closest to the centre of element c (FIG. 3E), then displace the elements c and f to the left until elements b and c touch (and may lock) (FIG. 3F). Then displace element e down until it reaches the position shown in FIG. 3G. This can be done using the (or part of the) motion module of element d, f, the element below element d, and element e, or a combined action of a selection of these elements. Next, element d moves to the left until the configuration of FIG. 3H is realized. This scheme thus requires 7 steps, displacing a total of 4 elements (c, d, e, f) a total of 12 positions: when going from FIG. 3A to FIG. 3B, a displacement of three positions occurs, from FIG. 3B to FIG. 3C three positions, from FIG. 3C to FIG. 3D one position, from FIG. 3D to FIG. 3E one position, From FIG. 3E to FIG. 3F two positions, from FIG. 3F to FIG. 3G one position, and from FIG. 3G to FIG. 3H again one position. This adds up to a total of 12 positions. The same end situation or configuration of elements can also be reached in another way. This is shown in FIGS. 3I-3M. For ease of understanding, FIG. 3A and FIG. 3H are repeated in the drawings. First elements a-c are displaced together one step along elements d-f to the left as in FIG. 3I. Subsequently (FIG. 3J), element f is displaced in the direction into the paper until its centre is at its closest position with respect to the centre of element c.

[0448] Next, in FIG. 3K elements a-f move as a group one position to the right. Alternatively, a, b, c, f move as one group and d, e move as a second group. Speeds may differ. Next, element e moves to the right (FIG. 3L). FIG. 3M depicts the intermediate position of element e while moving down; in this position element e uses element f and in parallel or sequentially uses the element on the left side of element e. Subsequently the composition of FIG. 3H is again realized. This scheme requires five steps (not counting FIG. 3M), displacing 6 elements (a-f) a total of 12 positions. The last scheme may require a smaller amount of (kinetic) energy, for instance element d has now been displaced only 1 position.

[0449] In FIGS. 3N-3P, it is illustrated how an element 1 can move when it is surrounded by other elements 1. Here, in FIG. 3N 26 elements 1 are assembled into a single cube, with one free space in the right centre row of elements 1. The 26 elements thus form one object: a cube with one opening. In FIGS. 3N-3P, the top 9 elements 1 are lifted only for illustration purposes. Element e is thus in FIG. 3N in face-contact with 5 other elements 1, including elements b, d, and h. The motion module, motion guiding module and motion restriction module in this embodiment allows the element e to move to position 3O and further on to the position indicated in FIG. 3P while the other elements 1 remain at their position. Below, several examples are presented of embodiments of the various modules. These modules, or variations thereof, allow an element (or clusters of elements) that is (are) at several sides enclosed by other elements, to leave an object or displace within an object. In the example of FIGS. 3N-3P, the motion module of element e will use the motion guiding module of at least one of the elements with which it is in face contact. In an embodiment, in order to prevent element e from getting blocked, element e may use the motion modules of all but its faces 3 that are either facing away from a direction of motion, and its face 3 that faces the direction of motion. In a situation where the object is subjected to a gravitational force working in the direction towards the bottom of the drawing, it may be conceivable that only a motion module in/at the lower face (opposite the face that carries the identification e) is operative. To get to the position indicated in FIG. 3P, the motion module of element e in an embodiment subsequently uses for instance motion guiding modules of the element 1 directly below element e in FIG. 3N, and/or the element 1 below element e in FIG. 3P, or a combination of the two if possible. Alternatively or in combination, element e may also use motion guiding modules and/or motion modules of elements b, c, h, i if possible. In general, it may use motion guiding modules and/or motion modules of elements in contact with element e.

[0450] When comparing end positions and the way that theses end positions are accomplished, several aspects can be taken into account. At a highest level, the performance of the system of elements as a whole may be evaluated. At a lower level, the performance for a group of elements may be evaluated. At the lowest level, the performance of a single element may be the subject of performance evaluation. These aspects for instance may have to do with the (in)equality of elements, element limitations, principles on how to handle forces acting upon an element and inter-element, required intermediate positions, principles used for navigation or problem solving, the speed at which a certain configuration of elements is being reached, energy consumption.

[0451] To achieve a certain position fuzzy logic, artificial intelligence, data mining techniques, machine learning, (path finding) algorithms, proportional logic, game theory, or other methods known in the field may be used. Elements may be steered or controlled from one or more central points. Alternatively, elements may be adapted to make their own decisions. In yet another alternative, elements may use distributed control. Thus, several degrees, levels or combinations between being steered or controlled and making own decisions are possible. Thus, an element or a group of elements can operate autonomously, for instance using data or information obtained from other elements and/or other sources. An element can have agent functionality and may learn from the feedback of its environment. An element may investigate, by computation, several potential actions or sequence of actions it is able to make. Subsequently, the element may determine either for itself, or for one or more other elements, which action has the highest benefit to the element, or to one or more other elements. It may then select that action or sequence of actions, and execute that action or sequence of actions. Furthermore, the timing of an action or sequence of actions may be taken into account: Elements may be planning their sequence of actions wherein the planning may take into account actions from other elements, or it may anticipate actions by other elements. Elements may receive only part of the information needed to accomplish a final configuration of elements and therefor need to communicate to other elements or devices. Client-server, master-slave, peer-to-peer, push or pull systems, polling, swarming- or other (hybrid) methods/technology may be used or adapted. Sometimes parallel movement (of individual elements or groups of elements) occurs next to sequential movement. So the movement of element d and element e to their final position could have occurred in one step from FIG. 3F directly to 3H at the same time instead of sequentially as described in the current FIG. 3F followed by 3G (movement of element e) and 3H (movement of element d). Sometimes a certain configuration of elements can only be reached by a method where one element is helping another element. A helper element can temporarily be inserted and used, then retracted from the other elements and thus not have a position in the final configuration of elements at all. Due to the reusability of the elements a large number of configurations of elements can be achieved over time. Well-designed elements do not have to be recycled but can be re-used, even for different purposes. This lowers the burden on our natural environment in several ways. If an element in an object does not function properly or is broke, it may easily be removed, for instance by actions of other elements, and replaced with a functioning element. The element may also be serviced.

[0452] A set of elements can assume a first configuration, and then move with respect to one another into a second configuration. Thus, the set of elements together are first in a first shape, and then in a second shape. This is also referred to as shape shifting. In this process, the elements may be reused.

[0453] This shape shifting by displacing reusable elements allows for example the formation of a table from a group of elements. When at a later stage this table is not required any longer, at least one element from the group can be instructed to exert some form of control over, or to communicate to, at least one other element of the group. This can be direct, wireless, but may also be accomplished by for instance a messenger element which can be inserted or added and which transfers the message to an element out of the group and then returns. A task of the group of elements may thus comprise changing its current shape, for instance a chair, into a table, and back again into a chair. Thus, the elements start moving with respect to one another. The constellation of elements that first fulfils the requirements of a chair shifts its shape to a constellation that fulfils the requirements of a table. The constellation of elements can then reorganise itself to fulfil the requirements of a chair according to input given or already available at an element. Thus the task of reusing the elements is executed by the elements.

[0454] Interaction with a human being exerting physical control, for example picking up, stacking, or replacing one or more elements, is not needed. This is a different method than building constructions with for instance Lego, in which human interaction is required. It is clear in this example that some form of intelligence or rules regarding mechanics, construction, architecture may be applied by an element or given to an element by a device, such that a person can actually use the chair to sit upon without the chair falling apart due to for instance the disintegration or disconnection of connected elements.

[0455] The elements can be physical at various scales. First, their size can vary. Their size may be comparable to playing blocks. Thus, an element may have a cross section of between 1-5 cm. An element may be a building block for constructing a building. In such an instance, a building block may have a cross section of about 5-50 cm. The elements may also be so small that the human eye can hardly discern the individual element. In such an embodiment, an element can have a diameter smaller than 1 mm. In particular, the diameter can be smaller than 100 micron. This may require the use of nanotechnology and for instance molecular or atomic motors. These elements can be used to build parts of this invention, as can larger elements the size of bricks or prefab concrete elements that may form a building. When leaving out the physicality of the elements, the elements can be simulated in order to determine or predict whether a configuration of elements can be achieved. In order to achieve a goal state when starting from a begin or start state, an element may need a combination of a program or app, with functionality which allow some functions to be performed. These functions steer actuators available in an element. Available sensors may give the element or the program input, potentially resulting in a different outcome of a function or a group of functions. These attributes and interactions as such may be known in the field of robotics.

[0456] From this a game or simulation, may be construed, which may be using physical or virtual elements or a combination of both. In such a game, it can be the task of a player to select the right program and the right functions/functionalities in order for elements to achieve a certain goal state out of a begin state. This game can be played by a human being alone, or by a computer. It may be played by at least one human being against at least one other human being or against at least one other computer, or a combination thereof.

[0457] Specific parameters measure the success; parameters like consumption of energy, speed, amount of moves of an individual element or of the group as a whole, amount of memory/cpu usage, strength of the goal state, or time required to reach the end state. When applying this with a certain degree of autonomy of elements and randomness for example by using artificial intelligence, the outcome may in advance not be known to a player. An overkill of regulating constraints to an element may restrict an elements ability to respond well to other situations/goal states; there may also be a trade-off between specialization and generalization. A player can for instance design on a game device a certain goal state and give certain elements selected properties: a selection from a group of programs, of actuators or motion modules, of sensors, of functions, of energy systems, and of communication systems. It must be understood that these properties of an element may act on other elements or devices. The design can be used by at least one element. The design is provided in part or as a whole to one or more elements and the elements start the displacement and depending upon the given properties the design, actually being a goal state can be accomplished or not. Changing the design allows for the elements to try to achieve another goal position. The elements can be physically or virtually, and displace themselves according to the given properties. Elements may be configured in order for the elements to exchange at least one property or functionality with one another or with another device. Elements may comprise memory in order to recall previous situations or compute potential future situations. This as such is known in the field of computer science. A goal state can be defined in different ways. For instance, the outer boundaries of a set of elements can be used as a goal state. For example, the end shape is a cube, or a plate.

[0458] The goal state may be functionally defined at element-level. For example, each element must have at least one face in contact with another element; each element must have at least 2 faces free.

[0459] A goal state may also be a list of locations, absolute or relative to other elements, of elements, or for instance specific elements have predefined end positions, again either relative, absolute, or a combination of both.

[0460] A goal state may also be represented by a mathematical function, general or mathematical demands or requirements on an assembly of elements, for instance, the assembly or configuration of elements must have a particular plane of symmetry, a hollow space inside, a defined circumference, a defined volume, number of layers, etc.

[0461] A goal state may also be functional. Elements having a defined functionality or property are at a certain position. Or the position should be such that the function is optimized. For instance, elements having a photovoltaic face should be located and/or positioned such that their production is maximized. The goal state may even evolve, change or be modified, even during the motions of elements towards the original goal state. The goal state may for instance change due to environmental influences, like day/light rhythm, temperature, etcetera, or may be time-dependent. A goal state may also be a negative definition, or be an exclusion.

[0462] Additionally, outside interaction may be possible. For example, inserting or removing an element to or from a certain state. This may be done physically for instance by a human being by using his/her hand. When done by taking into account how elements may attach/interact to one another, an element adjacent to a newly added element may notice/sense this interaction and use this for its own and potentially for other elements' behaviour in the configuration of elements. When going back to the example of designing a goal state on a device, the inserting or removing of at least one element may be taken into account by that device as well. Alternatively, a predesigned goal state may be used.

[0463] An example of this is a child designing a castle using the elements. Imagine the child using a computer device. There are many examples of usable devices. For instance a handheld device, such as for instance a handheld device comprising a (touch)screen. An example of such a device comprises a smartphone, an iPad, a smart watch or similar device. These devices may receive user input via a touchscreen, voice control, receiving muscle or nerve input, or other input means.

[0464] Suppose a castle is constructed using elements. Physically, the castle formed in a room by action and displacement of the elements themselves. After or during said formation, the child extends the castle by physically adding two more elements. A device may for instance comprise an app running on a device like the iPad, which receives information from an element forming part of the castle that the two elements are added. The child may save his/her altered version of the castle. When done playing, the child instructs the elements by means of the app to move to a certain begin state. Such a begin state may be compact so that his/her room may be used for other purposes. This example may then use wireless communication or multiple devices, like for instance multiple iPads, which are used to make a joint configuration of elements even at remote or uninhabited locations (like on planet Mars).

[0465] Another goal may be the following. Due to for instance displacement or a change or orientation of one or more elements, conditions may be optimized. For example, the elements may optimize growing conditions for plants. This may be achieved by for instance physically moving one or more plants, providing shade by covering the sun. Two assemblies of elements can displace two plants or groups of plants with respect to one another in such a way that the growing conditions for both plants are optimized. In an embodiment, elements may form a container, for instance a pot, holding the plants. In such a container, one or more elements may for instance provide an opening in the container for allowing excess of water to flow out of the container. Parts of the container may form a sunshade, or the elements may completely move the plant.

[0466] Communication may replace a certain type of sensor functionality. An element may use a sensor to detect only its direct neighbour. Alternatively, a sensor may be able to detect another element two positions further, or an element may ask or receive information from an other element if that other element is in contact with the element two positions further. Sensors can use contact/proximity detection by using the electromagnetic or the audio spectrum.

[0467] Another example is when two users play a game on for instance two separate devices, for instance on two iPads, two users play a game in which reaching a certain given goal state physical or virtual is the purpose of the game. As described earlier, this can be accomplished by selecting the right properties, functionality or tools for the elements. In this game there may be limits on certain properties or limits on how many different element configurations can be used for a certain goal state when playing a level of that game. An approach akin to the program Minecraft or other virtual worlds can be accomplished with for instance the difference that the current elements may physically build what is virtually designed when using design rules applicable to a physical element.

[0468] In FIGS. 4A-7C, various embodiments of motion modules, motion-guiding modules and motion-restriction modules are illustrated. These embodiments are examples showing ways to work the invention for physical elements 1.

[0469] In FIGS. 4A-4C, a cross-sectional view, detail and top view are shown which illustrate a mechanical solution that combines a motion module, a motion-restriction module and a motion-guiding module. In FIG. 4B, a cross section is shown of parts of two elements 1, 1 that are positioned on top of one another. Faces 3 are almost in contact. In fact, if their surfaces have little to almost no friction, the surfaces can in fact be in contact. Otherwise, one of the three modules (motion, motion-guiding and motion-restriction) will cause a little distance between the faces 3.

[0470] In the embodiment of FIGS. 4A-4C, an embodiment of part of two elements 1 is schematically shown. Part of the motion module 10 of element 1 is a retractable wheel. Another part of the motion module is the part of track 11 that provides an engagement surface of the tread of the retractable wheel. The track 11 further provides part of the motion guiding module and of the motion restriction module.

[0471] Element 1 has in this embodiment the same modules. FIG. 4A shows one element in top view, and FIG. 4B shows a cross section of FIG. 4A as indicated, but with a second element on top of it and also cross sectional view.

[0472] In FIG. 4B, the retractable wheel of element 1 extends and engages a motion guiding module of element 1, here track 11 of element 1. Retractable wheel 10 of element 1 is here in its retracted position. Retractable wheel 10 of element 1 in its extended position engages track 11. In element 1, in order not to hinder the retractable wheel 10, a slidable cover 12 is in its inactive position. It slides here to the right in the drawing. Element 1 has its slidable cover 12 closed. In this embodiment, the cover 12 together with track 11 provides a continuous track. The track 11 is sunken with respect to the surface or face 3. In FIG. 4C the motion module is shown in more detail. The motion module 10 comprise retractable wheels, comprising a strut 18 coupled to a shaft 16 that is cross with respect to strut 18. In this embodiment, shaft 16 carries wheel 17. A driving motor for the wheel 17 here is an electromotor 19 that can be provided as a rim motor inside wheel 16. Alternatively, the electromotor may be provided in shaft 16. Here at opposite ends of shaft 16, parts 15 of the motion-restriction module are provided that many be extended and retracted in the axial direction of shaft 16. In extended position, it can engage in a groove 14 (FIG. 4B), and in retracted position the motion module 10 can be retracted.

[0473] In FIG. 4A, only one face of an element is shown. In an embodiment, of which parts are already discussed above, the element 1 may be a cube. Such a cube can be provided with six similar faces. In fact, the six faces may also be identical. In the embodiment of FIG. 4A, a face carries a cross shaped track. Here, the centre of the cross is located at the centre of the face. In an embodiment, the element may have further faces that are provided with a similar, cross-shaped track. In order for elements to be able to displace with respect to one another in a flexible way, the track on one side functionally connects to the track on another, neighbouring face. In the example of FIG. 4D element 1 has one single, closed, sunken, track that runs all around four sides or faces of the element 1. In this drawing, groove 14 differs from the embodiment of FIGS. 4A and 4B. One of the walls of the groove 14 runs equal with the surface of track 11. In the embodiment of FIG. 4A, the element has at least two tracks. These tracks have two crossings at opposite faces, and in FIG. 4A one of the crossings is visible.

[0474] Now suppose two elements 1 of the type shown in FIG. 4A that are positioned with their face in contact. In order for a third element having the wheel as shown in FIG. 4B to move over the face of one element 1 and continue over the neighbouring element 1, A similar neighbouring element must have a similar sunken track at the same level to allow the moving module to traverse the two gaps (each element causing one gap. It may also be seen as one single gap). FIGS. 4E-4L schematically depict 3 elements 1; a, b and c, in a cross-section parallel through the centre of the tracks of the elements. The gaps in the lines resemble the gaps of FIG. 4D of the closed track around the element. FIG. 4E shows that the extended wheel module 10 of element a is running in the track of element b. FIG. 4F depicts the situation where the wheel module 10 tries to traverse the first gap. It is obvious that there is no traction by which the wheel module can displace element a any further in the direction of element c by itself. One or more helper elements 1 attached to element 1 a may in this case solve that problem. Potentially the element 1 of FIG. 4D has a different motion module 10: a motion module 10 with multiple wheels (FIG. 4G). First such a motion module 10 extends towards the track. Subsequently the motion module 10 extends its wheel base length and two wheels will be following the track. In this embodiment, a frame connecting both wheel axes extends. The wheels in FIGS. 4G and 4H may have half the width of the single wheel of FIG. 4E. In that way, these wheels if the embodiment of FIGS. 4G and 4H can slide out of one another and fit into the track. The distance between the rotational axes those two wheels is such that the two wheels span the two gaps, which is depicted in FIG. 4H: When one wheel has no traction, the other wheel has traction. The distance between the rotational axes of the two wheels may be set. These two wheels may be jointly or independently of one another use a motorized part.

[0475] In another embodiment, multiple motion modules 10 are provided at a certain distance from one another. This allows for movement while one of the motion modules 10 crosses the two gaps and another motion module 10 moves over track 11 (FIG. 4I-4L).

[0476] FIG. 4I shows an element 1 having two extended motion modules 10 which are moving element a on element b and towards element c. In FIG. 4J the right wheel has no traction any more, due to the first gap. The left wheel uses its power to continue the displacement of element a. In FIG. 4K the second gap is reached. Still, the left wheel engages element b and pushes element a further towards element c. In the situation of FIG. 4L, both wheels have traction again: with the left wheel engaging element b and the right wheel engaging element c. The wheels may change roles if element a is completely on top of element c.

[0477] In the embodiment of a cube-shaped element, in fact three continuous tracks are provided that encircle the cube and that cross one another. Each track usually crosses the other track at two crossings. In fact, more tracks are possible that each have other advantages. In particular, an embodiment will be demonstrated in which one or more tracks can be made over a face at almost each chosen path over the face. In this document, such an embodiment is provided using magnetic parts. Specific other layouts of track that are mentioned here are providing a face with two sets of two tracks. Each set crosses the other set. The tracks of a set can be provided symmetrically with respect to the centre of a face. Thus, in fact the tracks are laid out in the shape of a #-sign. In particular, two sets of parallel tracks are perpendicular with respect to one another. When providing a cross-shaped track an element, in particular when it is a cube, can usually only move on another element when a face of each element faces one another, are parallel to the direction of motion. In particular, these faces are in-plane. Thus, when another motion is required, the help of another element may be needed. An advantage of the cross-shaped track is the relatively simple layout. Furthermore, motion can be provided using a single motion module on each face, at the crossing of a track. Thus, in the embodiment of a cube, six motion modules may be needed to enable full motion capability. In the embodiment of FIG. 4A, each track 11 is provided with four motion modules. This may be needed to provide sufficient traction, supple motion. Other placements of motion modules in the track may be possible, and another number of motion modules per track may be used. In a simple embodiment, already mentioned, one motion module at a crossing of a track may be sufficient under certain conditions.

[0478] FIG. 4B shows in schematic cross-section an embodiment in which a motion module 10 is shown in more detail. In this embodiment, a part of the motion module 10 is an extendable driving unit that can move up and down with respect to a face 3, 3. It can be retracted, leaving the face 3 free, and it can be extended in order to extend beyond the surface of a face 3 and to engage a track 11 of another element.

[0479] In this embodiment, many ways can be devised to provide a motion-restriction module. Furthermore, many ways can be found to provide a motion-guiding module. In this embodiment, a mechanical solution is presented. Thus, part of a motion-restriction module and a motion-guiding module are provided using a set of grooves 14 at both sides of track 11. The grooves 14 here provide opposite normal abutments working along a line normal to the face of an element, and opposite transverse abutments working along a line in-plane with respect to a face and cross with respect to the track. In a simple embodiment, the grooves 14 have a rectangular cross section. Here the grooves are parallel to the face, and parallel to track 11. Thus, the grooves 14 together provide part of a motion-restriction module and a motion-guiding module. In fact, grooves 14 can be seem as partly undercut grooves, comprising an undercut at both opposite longitudinal sides of the groove 14.

[0480] In this embodiment, another part of a motion-restriction module and a motion-guiding module is realized through parts 15 running in the grooves 14. The parts 15 run in grooves 14 and provide abutments in the grooves 14. The various principles shown here can be combined.

[0481] In FIGS. 5A-5C an alternative embodiment for the motion module, motion guiding module and motion restriction module is demonstrated. This embodiment demonstrates an embodiment that avoids mechanical means for realizing a motion module, a motion-guiding module and a motion-restriction module. Parts of a non-mechanical embodiment and a mechanical embodiment may be combined. This embodiment uses magnetic force. To that end, permanent magnets and switchable magnets may be combined.

[0482] The following embodiment can be realized in an element. In FIG. 5A, the elements 1, 1 both comprise at least one strip of magnets 40 that can be switched on and off. Thus, the parts in a strip can be selectably activated. In this way, the strips in two elements can together form a distributed linear motor. In fact, the principle of a linear motor as such is known in the art. In this embodiment, such a linear motor is split into two separate parts. This allows the motor to function as a motion module. Using the magnetic force, the opposite strips 10, 10 in two elements that are on top of one another with their strips above one another can even provide at least part of a motion-guiding module.

[0483] In this embodiment, additional strips can be provided at the surface of an element. In an embodiment, two strips can be provided in/at a face of an element. These strips can be substantially parallel. Thus, the strips can function as a motion module and a motion-restriction module. In an embodiment, two elements 1, 1 are positioned one on top of the other. Both elements comprise two strips of selectably activatable magnets 40 and that are parallel with respect to one another. The strips of the one element are furthermore substantially parallel with respect to the strips of the other element. Now, if several opposite parts of the strip of two elements that rest on top of one another are actuated in an opposite way, the strips can even provide a motion-restriction module. When activating the parts in one element in an opposite way with respect to parts in the strips of the other element, parts of the strip of one element are poled in one way, for instance north or south, and these parts are opposed by opposite poles, i.e., respectively south or north, of parts of the strip of the other element. Thus, the strips now attract one another. In the embodiment described, a mode is illustrated in which both elements change the polarity of their magnets and cooperate. In an alternative mode of operation, one element can change the polarity of its magnets, while the other element leaves the magnet poles static. The magnetic force of the magnets may be adjustable.

[0484] The elements may be provided with at least two strips of magnet parts 40 at or near one face 3 and that are provided substantially in a cross. As such, this is discussed above in a mechanical embodiment. It may also be possible to provide several strips at one face.

[0485] The use of selectably switchable magnet parts 40 can even be provided in the following embodiment, providing control over the motion with respect to one another of two elements that rest one on top of the other. In FIG. 5C, an element is provided with a two-dimensional (2D) grid of selectably activatable magnet parts 40 or magnet patches. Magnet parts 40 may be integrated into the surface of a face 3 of an element 1, but may also be provided below the surface of a face 3. When elements 1, 1 are placed one on top of the other with the faces 3, 3 contacting one another, and the magnet parts of the elements are activated in a controlled manner, this can provide a 2D motion module. When opposite magnet parts 40 are activated in an opposite way, the 2D magnet parts 40 that are provided in a grid provides a motion-restriction module. By selectable activating magnet parts 40 in a 2D grind in one element 1 and in the opposite element 1 resting on to of element 1, the magnet parts 40 in both 2D grids interact. When opposite magnet parts are poled oppositely, two elements are attached and stick together. When subsequent magnet parts are activated, the effect of a plane-motor is realized. Subsequently activating magnet parts along a line over a face 3 will move elements 1 with respect to one another along that line. In fact, the 2D magnet parts thus also provide a motion guiding functionality. Faster motion may be achieved by activating groups of magnet parts 40.

[0486] The 2D grid of magnet parts 40 and the strip of magnet parts 40 may be combined.

[0487] The magnet parts 40 may be provided below a low-friction surface of a face 3. For instance, a polymer material may be used. In particular, PTFE or a similar low-friction polymer material may be used.

[0488] In addition to the at least one strip and/or the 2D magnet parts grid, at least one mechanical motion module, motion-guiding module and/or motion-restriction module may be provided. For instance, a mechanical motion-restriction module may be activated to at least temporarily fix the position of two elements with respect to one another in a way that does not require the use of an energy source.

[0489] In FIGS. 6A-6D, schematically a mechanical embodiment using a separate motion module 10, a motion-guiding module 20, FIG. 6B in cross section en FIG. 6C in further cross section as indicated in FIG. 6B) and a separate motion-restriction module 30 (FIG. 6D in cross section) is shown.

[0490] The motion module comprises a caterpillar track in each element 1, 1. Caterpillar tracks 10 here engages caterpillar track 10. In caterpillar track 10, one driving wheel of an element extends in normal direction or face 3 until it engages the caterpillar track 10. The caterpillar track may be one linear track along a face 3, and alternatively it is a pair of crossing caterpillar tracks laid out like in FIG. 4A.

[0491] The motion-restriction module 30 here is an extendable pin 31 that first is activated to extend out into a slot 32 in the opposite element. When pin 31 extends in slot 32, it rotates about its longitudinal axis. Thus, a cam 34 extending from pin 31 in transverse direction is rotated into undercut opening 35 in slot 32. Can 34 thus hook into undercut opening 35. It holds the distance between the elements 1,1. This holds element 1 in position with respect to element 1. In an embodiment, slot 32 is a groove running along face 3 and having an undercut groove 35, thus motion-restriction module keeps the elements on top of one another during motion. Both elements 1 and 1 can both have parts of the motion-restriction module.

[0492] Motion-guiding module 20 of element 1 here is a simple, straight pin 21 running in a groove 22 in an opposite element 1. Thus, a trail along face 3 is defined. In an embodiment and to guide motion even better, the transverse cross section of pin 21 is rectangular, in particular square. It fits in groove 22.

[0493] In FIGS. 7A-7D, yet another alternative embodiment of the motion module, motion-restriction module and motion-guiding module is schematically shown. This embodiment is based upon the use of piezo-elements for realizing parts of the modules mentioned. Piezo is used to refer to an element using the piezoelectric effect. As such, there are principles like linear motors that are suited for application in the elements. In this embodiment, one type will be discussed.

[0494] In this embodiment, a rail 80 is provided. Furthermore here four piezo modules 70 are provided. The piezo module is extendible, in FIG. 7B, a cross section as indicated in FIG. 7A shows the piezo module 70 of element 1 in retracted position and piezo element 70 in element 1 also in retracted position. The piezo modules 70, 70 have two U elements that are interconnected by a piezo piece 72. When activated, length L changes and the distance between the U-elements also changes. FIG. 7C shows a top view of a piezo module 70, and FIG. 7D shows a side view of the piezo module 70. The distance D between legs 71 and 71 is such that it fits over the thickened part 83 of rail 80. The inner parts of legs 71, 71, in particular the outer ends, are here provided with clamping piezo elements 73, 73. When activated, these piezo elements 73, 73 move inward and reduce the space D between legs 71, 71. Thus, allowing the legs 71, 71 to clamp on the sides of rail 80, in the undercut grooves 82, 82. Thus, when piezo elements 73, 73 are activated, piezo modules 70, 70 are fixed onto rail 80. Motion of piezo module 70 over rail 80 is possible by subsequent clamping of the U elements. If activation of piezo piece 72 is out of phase with the activation of the U elements, motion is possible.

[0495] Thus, here the piezo module 70, 70 together with rail 80 is motion module, motion-restriction module and motion guiding module.

[0496] Alternatively, the motion module may be based engaging elements using a hoist, winch, rack and pinion, chain drive, belt drive, rigid chain and rigid belt actuators which all operate on the principle of the wheel and axle. By rotating a wheel/axle (e.g. drum, gear, pulley or shaft) a linear member (e.g. cable, rack, chain or belt) moves. By moving the linear member, the wheel/axle rotates. Thus, elements may be put in motion with respect to one another.

[0497] In FIG. 8, a schematic cross section of an element 1 is shown, indicating the various components that may be present in an element 1. In this cross section, four faces 3 are indicated. Element 1 comprises a data processing unit 100, a data communication unit 200, an energy unit 300, a sensor unit 400, a motion-restriction module 600, a motion module 500 and a motion-guiding module 700. Next to these modules other modules may be present: for example an actuator which can move or rotate a retracted motion module within the element 1. The data processing unit 100 may be able to work together with other data processing units 100 of other elements 1 and distribute computational tasks to one another; This may be done in the form of distributed computing or cloud computing.

[0498] The waving arrows indicate that the various modules and/or units can interact with the environment outside the element 1. For instance, a sensor unit 400 can measure a physical parameter outside an element 1.

[0499] An energy unit 300 may be charged from a source outside element 1. Charging may be wireless, for instance inductive, or using conductive surface patches, for instance.

[0500] A data communication unit 200 may transmit data to outside an element 1, or be able to receive data from outside an element 1. This may be data transmitted by another element 1. It may be an element that is in contact with element 1. Data communication may be analogue or digital, be wireless via the electromagnetic spectrum, via sound or via other known wireless data transmission protocols, for instance Zigby, Bluetooth, WIFI, Near Field Communication (NFC) or the like. Alternatively, data communication may be physically using conductive patches on the surface of the face 3 of an element. Using a sensor like a (digital) camera and analysing data taken by the camera is also a potential form of data communication; known examples are for instance QR-codes or bar-codes. Communication can go across several degrees of distances, even inter-planetary. The energy unit 300 in this embodiment provides energy to components (modules and/or units) in the element 1. This is indicated by single arrows running from the energy unit 300 to the other units and/or modules. An energy unit 300 may be an energy storage unit, for instance a chargeable battery, an accumulator, a capacitor, for instance a super capacitor, or the like. Alternatively, the energy unit 300 may also be a power generator, which generates power. Examples of such an energy unit 300 are a fuel cell, a combustion engine, a photovoltaic element, or similar energy unit 300.

[0501] A sensor unit 400 may comprise one or more sensors that are able to detect a physical parameter. Examples of suitable sensors are a temperature sensor, a proximity sensor that detects the presence and/or distance of another element. A pressure sensor, an air-pressure sensor, a light sensor, a location sensor (GPS), a motion detecting sensor, an accelerometer, a moisture sensor, a gyroscope, and the like. Various sensor types that may also be used are also known in the field of robotics.

[0502] Examples of possible motion modules, motion-restriction modules, and motion-guiding modules are already described above. These modules as described can be based upon exertion of mechanical forces, or be based upon electromagnetic forces, chemical forces, physical forces, using for instance van der Waals forces, Casimir forces, based upon surface tension, vacuum or air pressure, and the like.

[0503] Data processing unit 100 may for instance be a computer having various components known in computers, like memory, an arithmetic processor, data busses, end the like. Data processing unit 100 may be able to control the other parts in the element 1. It may even control at least part of at least one other element. For instance, in a master-slave setting state. It may also coordinate cooperation between elements 1. It may run a computer program. It may process instructions provided from an external source.

[0504] The various units or components in FIG. 8 are indicated schematically. The units may be incorporated in the element. In an embodiment, one or more units may at least partially be integrated in a face of an element. Furthermore, in an embodiment, one or more units may at least partially be integrated into a single component. Alternatively, at least part of the functionality of the units 100-700 may be incorporated in the form of a computer program product.

[0505] In FIGS. 9A-9K an embodiment of an assembly of elements 1 (labelled a-e) comprising a shared motion module 90 is illustrated. In the depicted embodiment, the elements do not have the same shape or size. An advantage of a shared motion module is that an assembly of elements can shift shape with the use of a limited number of relatively complex motion modules 90. In FIG. 9A, element a is provided with the shared motion module 90. In an embodiment, shared motion module 90 is temporarily assigned to element a. This may be done by a control structure for assigning the shared motion module, and for controlling the shared motion module 90. Alternatively, the shared motion module 90 is controlled by an element that uses the shared motion module. In yet another embodiment, the shared motion module is self-controlled, of may be part of a peer network together with elements, and even further shared motion modules. The above indicated forms or modes of operation may be combined, or the assembly of elements and one or more shared motion modules may switch from one mode of operation to another. Thus, processing and operation of the motion module may be operated and controlled from the shared motion module 90. Alternatively (and at another end of the spectrum), operation and control of shared motion module 90 is done in an element 1. Operation and processing can also be distributed. Using for instance master-slave settings, control may be switched from element 1 to shared motion module 90 and vice versa. Also, control of a shared motion module may also be switched from one element 1 to another element 1.

[0506] In the current embodiment, the shared motion module 90 comprises attachment parts 91 that engage element a. Shared motion module 90 is in FIG. 9A in its active position. Attachment parts 91 engage element a here in such a way that shared motion module 90 cannot displace with respect to element a. In this active position the shared motion module 90 can be further activated to engage a neighbouring element to start moving element a with respect to such a neighbouring, in particular adjoining, element. Here, no such element is illustrated. The shared motion module 90 is located in a track 11, like for instance a track 11 illustrated in FIG. 4A. In FIG. 9B, the attachment part 91 is pulled in into shared motion module 90. Thus, shared motion module 90 becomes free to move along track 11 of element a. To actually move along track 11 of element a, the shared motion module 90 can be provided with a displacement part 92. In an embodiment, displacement part 92 engages in the track 11 of element a. Displacement part 92 may be a mechanical component, physically engaging track 11. For instance, displacement part 92 may comprise driven wheel similar for instance to the motion module of FIGS. 4A-4L, a piezo element illustrated above in a motion module in an element and for instance similar to the embodiments illustrated in FIGS. 6A-7D. Displacement part 92 may also comprise magnet parts that can be activated. The track may be provided with parts that respond to magnetic forces, but that are themselves not permanently magnetic, for instance iron patches. Thus, it is possible to provide a magnetic drive while the elements are themselves not permanently magnetic.

[0507] In FIGS. 9B-9G, it is illustrated how displacement part 92 causes shared motion module 90 to travel along tracks 11 of various elements (a, c, d) to arrive at an element 1 that is indicated e. When going from FIG. 9C to 9D, the motion module follows track 11, even if the track 11 rounds a corner. When going from FIG. 9E to FIG. 9F, motion module 90 leaves element a and continues its way in track 11 of element d. When going from the situation in FIG. 9F to 9G, motion module 90 first follows track 11 of element d, and goes to track 11 of element e. These tracks 11 here connect to one another and for the motion module 90 present one continuous track 11.

[0508] In FIG. 9H, it is illustrated that shared motion module 90 activates its attachment parts 91 to engage element e. Thus, the position of the shared motion module 90 on element e is fixed or locked through attachment part(s) 91. Here, the attachment parts 91 are illustrated at one sided of shared motion module 90. As is evident when looking at FIGS. 9A and 9H, the attachment parts 91 can engage motion module 90 from various sides. Here two sides are illustrated. In an embodiment, the attachment parts 91 are designed to allow engagement of all sides of motion module 90. Alternatively, the attachment parts 91 are not incorporated in the motion module 90 itself, but may be part of the motion module that is integrated in an element. For instance, the attachment part 91 may be designed along the lines of the motion restriction module shown in FIGS. 6A-6D. In fact, it may even be possible to provide a part that is allowed to function as motion restriction module, and as attachment part for motion module 90.

[0509] In FIG. 9H the displacement part 92 is not indicated, in order to illustrate that it is no longer functional as of this stage.

[0510] In an embodiment, like for instance shown in FIG. 7A, an element 1 comprises two crossing motion guiding modules 11, each motion guiding module 11 going around the element 1. In such an embodiment, two types of shared motion modules may be defined, one type of motion module for a first motion guiding module 11 and another for a second motion guiding module 11. These types of motion modules 90 and motion guiding modules 11 may be identical, but oriented differently.

[0511] In FIG. 9I, it is illustrated how element displacement part 93 is activated into its active position. The element displacement part 93 extends from shared motion module 90 and from element e into the motion guiding module, here track 11, of element b. Again, the element displacement part 93 can be similar to the types illustrated in FIGS. 4A-7D, i.e., based on mechanical operation, like a wheel, a toothed gear, or the like, magnetically/activated operated elements, or for instance piezo-type elements. The element displacement part 93 now engages into track 11 of element b. It starts exerting force on element b via engagement of track 11. Consequently, element d displaces with respect to element b. FIG. 9J illustrates this. Next, in an embodiment shown in FIG. 9K, the shared motion module 90 is stored in a storage space in an element, here element d. Thus, the tracks 11 are free, and shared motion module 90 may be in a position to be charged, or to be protected against environmental influences.

[0512] In an embodiment, the displacement part 92 and element displacement part 93 may functionally be combined.

[0513] In FIGS. 10A-10H, another concept of an element 1 with a motion module 10 is presented schematically. In this concept, which may be combined with previous concepts, an element 1 has at least one motion module 10 and a motion module movement part 95 allowing displacement or change of orientation of the motion module 10 in an element 1. In this way, the number of motion modules 10 in an element 1 can be considerably reduced. In an embodiment, an element 1 comprises one motion module 10 that comprises a motion module movement part 95 that allows a motion module to be displaced or repositioned to have an active position at each face 3. Thus, only one motion module 10 can be sufficient of displacing an element 1 with respect to another element 1. In fact, more than one motion module 10 may be included in an element 1. In FIGS. 10A and 10B, an embodiment of such a motion module 10 is illustrated that comprises a motion module movement part 95 that allows rotation of the motion module 10 inside the element 1. In that way, motion module 1 that is at an active position at a face 3, allowing engagement of an adjoining element (not shown) that rests against the surface of face 3. In FIG. 10B, motion module 10 is rotated about rotation axis R to an active position at the adjacent face 3 of element 1.

[0514] In FIGS. 10C-10H, an alternative embodiment for the motion module 10 with an alternative motion module movement part 96 is illustrated. In this embodiment, motion module 10 moves parallel to motion guiding module 11. It is within motion guiding module 11. Motion module 10 in this embodiment comprises a motion module movement part 96 that allows displacement of motion module 10 as indicated in subsequent FIGS. 10C-10G. The motion module 10 moves or displaces from its position in FIG. 10C to its position in FIG. 10D parallel to motion guiding module 11, here track 11. Motion module 10 here displaces inside element 1. Here motion module 10 moves or displaces between the centre point of the element and track 11, leaving track 11 free. The motion module may be actuated via exertion of a mechanical force. Examples are illustrated above. Alternatively, electromagnetical force may be used. An example of this is also illustrated above. In this way, an element may comprise as little as one motion module 10, reducing complexity of an element. It may me possible to equip an element 1 with several motion modules.

[0515] In FIG. 10F, motion module 10 is moved to come into its working position. In this embodiment, the motion module has a working position. In other embodiments, the motion module may be designed to move in more than one orientation.

[0516] In FIG. 10G, motion module 10 is at its new active position at adjacent face 3. There, motion module 10 may be locked in its position in element 1. In FIG. 10H, schematically, motion module 10 released an element displacement part 93. In this embodiment, it may comprise a driven wheel, like the embodiment of FIGS. 4A-4L. Other element displacement parts 93 may also be conceivable, for instance the piezo element described above, or the magnetic parts described earlier. This embodiment may considerably simplify elements 1, as the may comprise as little as one motion module 10 in an element 1. The motion module may comprise part of the elements functional parts. In one extreme example, the motion module 10 comprises all the functional parts (FIG. 8) of the element 1.

[0517] The embodiment of FIGS. 10A-10H may be combined with the embodiment of FIGS. 9A-9K. For instance, an element may comprise one or more internally displaceable motion modules 10, in combination with one ore more shared motion modules in an object. In an other embodiment, a motion module can be both an internal motion module, and it may function as a shared motion module 10.

[0518] FIG. 11 shows schematically a further or alternative embodiment of an element 1. In this embodiment, a hand 51 is about to grab the element 1 in order to displace it. This embodiment of an element 1 can have one or more of the features described, or a combination thereof. Alternatively, it may comprise only a sensor for grab-detection and holding means. In FIG. 11, schematically an embodiment of an element is shown with a motion module 10, motion guiding module 20 and motion restriction module 30 schematically indicated. In this schematic indication, a mechanical embodiment is shown which may be like the embodiment of FIG. 4, or the embodiment of FIG. 9 or of the FIG. 10. The element 1 of this embodiment can be a building block and in this embodiment has a cubic shape, although, as already explained earlier, other shapes may also be considered. In fact, it may also be possible to use a set of shapes, like the different bricks in an old-fashioned box of bricks used as a child's toy.

[0519] The element 1 of FIG. 11 basically can be picked, put and stacked like the bricks of a set of bricks, or like the well-known Lego. Element 1 comprises in this embodiment a set of sensors 400 for grab detection. These sensors 400 can for instance be proximity sensors, heat sensors, or cameras, or combinations thereof, and make up a sensing means. Furthermore, the sensing means may comprise one or more controllers, one or more data processors, including image processors. Means for interpreting sensed parameters may be part of the sensing means. In FIG. 8, an example is provided of how sensing means may be functionally coupled. In an embodiment allowing easy grab-detection, the sensor 400 comprise camera's, for instance cameras that are provided on each face 3 of the element 1. In this way, it can be possible to detect for instance a hand 51 approaching the element 1.

[0520] The element 1 further comprises holding means 50. In this embodiment, element 1 has a set of holding modules 50. Here, holding modules are provided on each face 3. In this way, an element 1 can be locked face to face with another, similar element. An example is for instance the locking as described in FIG. 3F. More specifically, in this embodiment, each face 3 comprises a subset of, here four, holding modules 50. Here, holding modules 50 are provided on each quadrant of a face 3. In this way, element 1 can be locked onto another, similar element with one quadrant onto another quadrant, allowing flexible building of bricks or blocks. Furthermore, the bonds referred to before may be realised in that way.

[0521] The sensors 400 can be functionally coupled to a data processor 100 (not shown). In this way, the input of at least two sensors on different faces 3 can be combined in a more versatile grab-detection. For instance, with a camera on each face 3 having viewing angels that for instance at least stitch together, it may be possible to have all-around grab-detection. In fact, when detecting approaching of a hand or fingers at two different faces, the prediction and anticipation of a grabbing of element 1 can be improved. In such a setting, each camera can have a viewing angle of more than 45. In particular, the viewing angle of each camera can be more than 90. In this way, an all-around view can be accomplished with a camera on each surface of a cube easily, from a distance of about 8 cm or less already. One or more of the surfaces of an element may be curved. In this respect, a convex curvature is referred to. Most extreme examples include a sphere and a cylinder. A sphere, in this respect, has one curved surface. A cylinder, in particular a circle cylinder with circle end planes, has three faces. In such shapes, for instance, a smaller amount of cameras may be required for grab detection. For instance grab detection at a distance from about 5 cm.

[0522] Using a data processor, for instance data processor 100, image processing on the images of the cameras may be done, and image interpretation using known image-interpretation routines.

[0523] Furthermore, the holding modules 50 can also be functionally coupled to data processor 100. In this way, the grab-detection of one or more sensors 400 can be combined and coupled with a locking and/or unlocking action of one or more holding modules 50. Element 1 may also upon grab-detection contact one or more similar elements that are locked to element 1, and request being unlocked or request being locked, depending upon its current state.

[0524] In an embodiment, element 1 is allowed to anticipate being grabbed, or anticipate being released from being grabbed: When one or more of the sensors 400 sense a hand 51 approaching element 1 for grabbing element 1, the holding modules 50 can unlock. This allows the hand to grab element 1 and actually pick it up and remove it from other elements. The other way around, when the element 1 is held by a hand 51 and placed upon one or more similar elements with one or more holding modules functionally aligned, the one or more holding modules may, in anticipation, start locking. In this respect, holding modules of opposite faces are functionally aligned when the holding modules are capable of exerting a locking force at one another. Mechanically-operating holding modules of opposite faces, for instance, may be self-searching or self-tapping. For instance, the entrance of a holding module may be conical, for guiding an inserting end towards a centre.

[0525] The holding modules 50 allow exerting a force to and/or receiving a force from one or more holding module or other, similar elements. In particular, the holding modules 50 allow a force with a component normal to face 3, and directed towards the face 3. In this way, using one or more holding modules 50, element 1 can be (face) locked to one or more other, similar elements. The exerted force may be for instance magnetic, electrical, mechanically.

[0526] In an embodiment, the holding modules are mechanical parts that allow exertion of mechanical forces. For instance, each holding module 50 may comprise a treaded end that can be extended and be received in an other, similar holding module. Such a treaded end may for instance be hollow. This may allow alignment control, or signal transmission from one element to another. Alternatively, holding module 50 may comprise a hooking part which can be hooked in (and released from) a receiving part.

[0527] In an embodiment, a holding module 50 can be male, female, unisex, or can be hermaphrodite. This may allow a holding module 50 to lock into another holding module, or to be locked by another holding module.

[0528] In the embodiment discussed, the one or more sensors 400 are functionally coupled to one or more holding modules 50. This allows the holding modules 50 to respond to sensor measurements, like grab-detection. Thus, for instance, element 1 can unlock before it is actually touched by a hand 51, allowing element 1 to be picked up and displaced. In may also or in combination allow element 1 to lock to one or more other, similar elements even before it is released by hand 51. This gives element 1 a sense of responsiveness. In an embodiment, no force needs to be exerted to lock elements, and no additional action may be needed for taking one or more elements away.

[0529] In an embodiment, element 1 comprises a frame structure (not shown) holding the sensors 400, and supporting the holding modules 50. Furthermore, such a frame structure may provide support or define a face. In a minimal way, it may provide three supports defining a face. It may also provide or support a surface defining a face 3. The frame structure may be from any material, like polymer, reinforced polymer, metal, combinations thereof, and the like. A skilled person will recognize suitable materials. The frame structure may be produced using any type or production method, including 3D printing.

[0530] The sensing means, in particular a camera, comprises a field of view. In such a field of view, one or more detection cones may be defined. In the embodiment of FIG. 11, two cameras can comprise a first detection cone and a second detection cone. In the process of grab detection, detection cones that are opening in substantially opposite directions may be involved. Alternatively of in combination, detection cones may have an axis which is under an angle of at least 90 degrees. Furthermore, the holding means is adapted for providing a holding force having a component of the holding force directed to and perpendicular to a connecting line of these detection cones.

[0531] The axes of two detection cones of sensor involved in grab-detection may define a plane. Upon grab detection, the holding means that are actuated are adapted to exert a force having a component normal to that plane. The force is often directed towards the element.

[0532] In an embodiment, the first and second detection cone comprise a connecting line, and the holding means is adapted for providing a holding force having a component directed to and perpendicular to the connecting line.

[0533] In an embodiment, the sensing means furthermore is adapted for detecting alignment of said holding means with a holding means of a similar element. The sensing means may provide a measure of the distance from actual alignment of opposite holding means.

[0534] Elements may have a different shape and/or be of a different type. The sensing means may be adapted to determine the type and/or shape of the an other element. The sensing means may be adapted for measuring or sensing proximity other element. In case of an element according to FIG. 11, and with the sensing means comprising a camera at each face having a viewing angle allowing a detection cone opening away from the face, for instance having an axis normal to a face, the parameters mentioned can be determined.

[0535] In an embodiment, elements comprise a sensing means comprising the position sensor. The position sensor can comprise a series of components. Furthermore, a series of position sensors may be provided on each face. The position sensor may comprise an emitter and a receiver for electromagnetic radiation. The electromagnetic radiation can for instance be infrared (IR) radiation, also referred to as IR light. For instance, IR light having a wavelength of between 750 and 1200 nm may be applied. An advantage of such radiation is that it is invisible to the human eye. Thus, the position sensor would not interfere with other functionalities. For instance, an emitter may comprise one or more sources that emit electromagnetic radiation, like a series of IR LEDs. The emitter may emit radiation intermittently. The emitter can further comprise reflecting elements. In an embodiment, the emitter at the face of an element in fact cooperates with reflecting elements on the face of another element. The reflected radiation can be detected by the receiver.

[0536] The receiver can comprise a series of detecting elements. An example of a receiver can be a strip or line scan detector that is sensitive for the electromagnetic radiation emitted by the emitter. The receiver may also comprise a camera comprising a 2D detector having spatial resolution. An example of such a camera can be based upon CCD elements or the like. A line scan element produces a limited amount of data, and is fast. This hold even more if the sensitivity of the receiver is limited to a defined bandwidth, for instance by using filters.

[0537] The emitter in an embodiment is provided for producing in operation radiation in an emitter pattern. This emitter pattern changes when two elements move, for instance slide, over or with respect to one another with one of their faces facing. When at least part of these facing faces are at a predefined position and with one or more holding modules aligned, the emitter pattern will form a first position pattern, in particular to the receiver. In particular, the first position pattern is a two dimensional first position pattern. In an embodiment, the position sensor comprises a set of predefined position patterns that allow discrimination of various alignment options on a face. In an embodiment, quadrants may be defined on a face, and predefined position patterns allow discrimination of alignment of each of the quadrants separately of in combination. An example of this will be explained below.

[0538] In an embodiment, this first position pattern is radiation that may in fact originated from or is reflected by at least part of a face of another element. Thus, for providing elements that are each fully functional, a face is provided with all the parts that form the position sensor, but in order to work, parts of the position sensor on the face of one element may work together with parts of the position sensor on a face of another element. As an example, a first element may comprise an emitter that transmits radiation that is reflected on the face of another, second, element. The (back) reflected light is detected by a receiver on the first element. Alternatively, one element may transmit the radiation, and the other element detects the radiation. Again, both elements may hold both the emitter and receiver in order to be fully operational. Position sensors of elements may work together, for instance in a distributed way, to be able to determine position and/or alignment.

[0539] In some embodiments, the elements of emitter and receiver are positioned on or with respect to a face in such a way that the radiation needs to travel a distance before reaching the receiver. This can be accomplished in different ways. In an embodiment, one of, or both, the emitter and receiver are positioned below the surface of a face. For instance, a source or radiation and/or a detection element may be positioned in a groove or trench in a face. Alternatively, waveguides may be used for positioning emitter locations and/or receiver locations on a face. Thus, for instance, radiation may be emitted from a location on a face that is remote from a location of a source, thus providing design freedom, and freedom of pattern formation. In the same manner, a receiver location may be remote from an actual detector location.

[0540] For instance, the position sensor can be implemented in the following way. In an embodiment, the elements have the shape according to FIG. 4A, with the track 10 of FIG. 4D and having for instance a track 10 and holding modules as indicated in FIG. 11. On the bottom of a track one of more radiation sources may be provided at known positions. These sources emit for instance IR light in a defined pattern, for instance one of more cones of IR light. The radiation is emitter out of the track and away from the face. The surface of the elements may be provided with reflecting parts for reflecting the emitted radiation. These reflecting parts may have a known pattern. For example, strips of reflecting material may be provided along the edges of a face. These reflecting parts are provided on a face of a second element for reflecting radiation, originating from the face of a first element, back to the face of that first element. The receiver may for instance comprise two strip detectors, which may each comprise a line of detection elements. These strips can be at an angle with respect to one another, thus forming a receiver pattern. Together with the first position pattern resulting from the combination of source(s) and reflectors, the receiver can result in a third, detection or alignment, pattern when faces are at a desired position and holding modules are aligned. In this way, when two elements are in a desired position with faces facing one another and one or more holding modules aligned, it is possible to generate the first position pattern on the receiver pattern of detection elements. In fact, a third, resulting alignment pattern is generated. Thus, the position sensor can determine (or using signals resulting from the position sensor(s) it can be determined) if a predefined, desired position and alignment is present.

[0541] Functional coupling of one or more position sensors and one or more holding modules may be accomplished in the following way. The position sensors and holding modules may be coupled to a data processing unit or a data processor 100. The data processor 100 from the detected signal or signals may calculate that a desired position and/or alignment is accomplished, and which holding module or holding modules may be activated. The data processor 100 may then activate that holding module or those holding modules into a holding state. Parts of facing faces or even complete facing faces may then be held together using the holding modules. For instance, a face may be sub-divided into face sections, for instance quadrants. Each face section may allow separate position sensing, alignment detection, and may have holding module per face section. Possible options are illustrated below using a square face divided in equal quadrants.

[0542] The position sensor or position sensors may also allow dynamic position detection. Using dynamic position detection, approaching or moving away from alignment can be detected and activation of holding modules can be anticipated.

[0543] The position sensors can be used in combination with the grab detection sensor(s), and/or in combination with other sensors of the element that together form the sensing means. In fact, the sensing means may comprise a data processor that allows processing and/or combination of data from the sensing means. Conclusions/results from the calculations or processing may be used for activating and/or controlling other modules, like the motion modules, holding modules, motion-restriction modules, motion guiding modules.

[0544] In FIG. 12, an example of an embodiment is shown, here based upon the element 1 of FIG. 11, although the grab detection does not need to be present. On such an element 1, various other, similar elements can be positioned in different ways. Element 1 here has a groove or trench, at indication 10, 20, 30. This, however, may also be a channel of material that is transparent or almost transparent for the radiation of the emitter. Thus, for instance a smooth or flat surface of a face may be provided. The other parts described above (motion module 10, motion guiding module 20, motion restriction module 30) may be present in this element, but it is not required.

[0545] The element 1 is provided with a position sensor indicated on its front face, although in fact all faces may be provided with such a position sensor. The position sensor here has various parts. Each face section or quadrant may in fact have its position sensor. The position sensors are, however, integrated and combined in such a way that they may in fact operate as one single position sensor. Holding modules 50 are provided here on each quadrant. The quadrants of the front face here have an indication A-D. The position sensor here comprises emitters, here radiation sources 60, in particular IR LEDs 60. The emitters here further comprise reflectors 61, here strips along edges of each quadrant.

[0546] The position sensor here comprises receivers 62. The receives are here line scan elements 62, that have detection elements aligned in a line. The line of the line scan elements 62 are at an angle with respect to a cross, here the lines of symmetry of an element 1. The angle here is substantially 90 degrees. The line scan elements here extend over the width of the groove (indicated at 10, 20, 30). This allows detection if faces or parts of faces almost align or are far from alignment. The emitters are here further provided with reflecting patches 63 in the groove or trench. Formally, one LED 60, and one angular reflector strip 61 form an emitter, and two halve line scan elements 62 form one receiver. Thus, each quadrant A-D here has its own position detector. As mentioned, these elements may here be integrated functionally and work together in such a way that the elements 60, 61, 62 and 63 on one face may also be seem as one position sensor.

[0547] The following possibilities may occur: [0548] no elements facing the face of element 1; [0549] 1 element may align with its face fully on the face of element 1; [0550] 1 element may align two adjacent quadrants with two adjacent quadrants of element 1 (AB, BD, DC or CA); [0551] 1 element may align one quadrant on one of the quadrants A-D of element 1; [0552] 2 elements may align one quadrant with each of the quadrants A-D; [0553] 2 elements may each align two of their adjacent quadrants with adjacent quadrants of element 1; [0554] 2 elements align, one with two adjacent quadrants on two adjacent quadrants of element 1, and one with one quadrant on one quadrant of element 1; [0555] 3 elements may each align one quadrant with a quadrant of element 1; [0556] 3 elements, one element aligning two adjacent quadrants and the other two each one quadrant, and [0557] 4 elements each aligning one quadrant on the face of element 1.

[0558] The current position sensor of FIG. 12 allows detection of alignment of all these options. In fact, even partial alignment may be detected, allowing dynamic position detection.

[0559] The patches 63, which may even comprise radiation sources in addition to or in stead of reflecting patches, allow detection of a face of an element fully aligning with the face of element 1. These patches are provided in the groove. They may vary in position. It may even assist detection deviations from alignment. The embodiment of FIG. 12 allows discrimination of all the options of alignment indicated above. Each of the light sources 60 may for instance have their own, unique frequency of intensity, allowing further discrimination. The same holds for reflecting properties, width, or other property of the reflecting elements 61.

[0560] In operation, radiation from sources 60 of element 1 reflects off of reflecting elements 61 of other elements and is received by receivers 62 of element 1. In an alternative embodiment, the reflectors 61 may for instance be sources of radiation. Here, the width of the reflectors 61 is less than the width of the grooves, and less than the length of the strip detectors 62, allowing detection of positions close to alignment.

[0561] The reflectors 61 are in FIG. 12 provided along outer edges of quadrants A-D.

[0562] Orthogonal arrangement of emitter parts 61 and receiver parts 62 allows discrimination between possible situations and even partial alignment. Dimensions of emitter parts and receiver parts are mutually adapted and selected for providing detection of possible situations sketched above. Furthermore, mutual positioning of emitter parts with respect to receiver parts allows discrimination of partial alignment, estimation of how far away alignment is, and the actual possibility of faces partially facing a face of element 1. Additionally, position sensors and/or parts thereof may be individually calibrated for instance for handling tolerances in position and size.

[0563] The position sensor, illustrated, allows an element 1 to detect the position of a face of another element without the need for active participation of that other element 1.

[0564] FIGS. 13-15 now elaborate on the holding device. In this embodiment, the holding devices 50 include a sensing means that allows sensing various properties and statuses. Furthermore, the holding devices 50 may enable transmission of data and/or of power. In FIG. 13, two holding devices 50 are depicted which are in released position with respect to one another.

[0565] In FIG. 14, the holding devices 50 of FIG. 13 are depicted, with the lower holding device 50 engaging the upper holding device 50. The holding devices here enable holding while maintaining the faces at a set distance. In FIG. 15, the holding devices 50 of FIG. 13 are depicted again, with the lower holding device in holding position.

[0566] The holding devices 50 of FIG. 13 are both provided at a surface of a face 3, 3 of a respective object or element like described above comprise a locking member 120. In this embodiment, the locking member 120 has a rod-shape. The locking member 120 has an outer surface 121. In this embodiment, it is provided with a screw thread. A screw thread is a relatively simple way of allowing locking in a direction that is in line with a longitudinal direction 1 of the locking member 120. Alternatively, for instance the baronet locking may be provided on the locking member. The holding device 50 in this embodiment comprises a guiding part 124. The guiding part 124 is positioned and designed to engage the external surface 121 of the locking member 120. Thus, in an embodiment like the current embodiment, the guiding part 124 comprises an inner surface that is complementary to the outer surface 121 of the locking member 120. Thus, for instance, if the locking member 120 is (or ends in) a bar having a circular cross section, this inner surface is sized to receive the locking member end. In an embodiment, the inner surface of the guiding part 124 is also circular and matches fittingly the outer surface 121 of the locking member 120, or at least part of the locking member 120, for instance the end part of the locking member 120. When the locking member 120 is in a holding position, a round outer surface of the locking member 120 blocks displacement in all directions of a plane of which the longitudinal direction 1 of the locking member 120 is the normal. The locking member 120 may also lock/hold against displacement in a line, for instance a line perpendicular to the longitudinal direction of the locking member 120. When combining holding devices 50, displacement in more directions may be blocked, for instance the displacement in a plane also be blocked using three holding modules in a triangular orientation. Alternatively, when combining at least two holding devices in one object or element, with for instance locking members that are not parallel, it is even possible to hold the object or element in place with respect to other objects or elements.

[0567] The outer surface 121 (or cross section of the end of the locking member 120) may also be unround, for instance elliptic, triangular, rectangular, polygonal, end the like. This also blocks rotation around an axis that is in line with the longitudinal direction 1 of the locking member 120.

[0568] In this embodiment, the holding device 50 comprises a coil 125 provided in the guiding part 124 and around the inner surface of the guiding part 124. In particular if the locking member 120 comprises a ferromagnetic part, for instance extending in longitudinal direction of the locking member 120, this may provide a magnetic field that may be used for alignment and/or position detection, distance detection, power transmission and/or data transmission. Using a coils 125, additional functionalities may be provided, part of the functionalities described can be provided, or temporarily functionalities may be taken over from other parts of a holding device.

[0569] The locking member 120 has a first locking member end 122. In general, this is the part of the locking member 120 that engages another holding device 50. In the current embodiment, the locking member 120 has a first end face. In FIGS. 13-15, the first end faces of the locking members 120 face one another. In fact, in FIGS. 14 and 15 the first end faces are in contact. The locking member 120 and a receiving opening of the holding device 50 may be shape-self-aligning or seeking, in the sense that for instance the opening is funnel shaped, or the end of the locking member 120 is slanted, or both. In such an embodiment, holding devices need not be perfectly aligned in order to be able to get into locking position. Alignment detection may take this into account.

[0570] The locking member 120 can comprise a massive or solid rod or shaft, for instance a metal rod, a polymer rod, if required having reinforcement, or the locking member may comprise a composite rod. The locking member 120 may further be hollow, for instance having a hollow rod or hollow shaft. The locking member 120 in this embodiment further comprises a light guiding part 126. The guiding part 126 in the broadest sense is a guide for electromagnetic radiation. As a light guiding part, it transfers radiation in the IR, VIS and/or UV range from one of its ends to its other end. Here, the light guiding part 126 extends in a straight line and in particular parallel to the longitudinal direction 1 of the locking member 120, more in particular it extends in line with the longitudinal direction 1. The light guiding part 126 here extends in the centre of the locking member 120. In an alternative embodiment, it may extend at another position of the locking member 120. The centre, in particular along the longitudinal axis and more in particular at the longitudinal axis of rotational symmetry, allows easy alignment and/or contact with the locking member 120 and the light guiding part 126 of another, similar holding device 50. The light guiding part 126 may be a guiding pipe, for instance a hollow cylinder having reflective walls, reflective for the radiation that is intended to be guided. In an embodiment, currently illustrated, the light guiding part 126 is of the waveguide type. More in particular is can be a single optical fibre of a bundle of optical fibres. These optical fibres usually comprise a core and cladding which is selected in such a way that the interface of the core and cladding is totally reflecting for the radiation that needs to be transmitted. A waveguide may be provided with radiation-attenuating provisions, like for instance doping. The light guiding part 126 can send out radiation in a cone, indicated with the striped lined in FIG. 13. Alternatively, the light may be optically refracted, for instance bundled or even collimated. The radiation may also be formed in an emitting pattern, spatially or in time domain. Using a bundle of optical fibres, this may be done easily. This may support and/or enable transmission of power, data, of may assist alignment, positioning, for instance.

[0571] The locking member 120 in this embodiment further comprises an electrical conduit 128. The electrical conduit 128 in the current embodiment is electrically isolated from the rest of the locking member 120. It here extends from one face of the locking member 120 to its opposite face. Thus, electrical connection may be provided through a locking member 120, and if locking members of similar holding devices 50 are oriented such that their locking members 120 are in contact (like for instance in FIGS. 14 and 15), power, signals or data may be transferred through these electrical conduits 128 or lines. One electrical conduit 128 may be coaxially around the light guiding part 126. Alternatively, a bundle of conduits or lines may be provided. Here, the electrically conductive conduit 128 extends between (end) faces of the locking member 120. Alternatively, one end may extend to the outer surface 121, for instance to the end part of the locking member 120. The electrical conduit 128 may comprise parts that are moveable with respect to the locking member 120. Examples are for instance resilient ends, or biased ends that can make electrical contact when pressed or released. Alternatively, the parts of the electrical conduit 128 may be actuated via an actuator.

[0572] The holding device 50 further comprises an actuator 123, for displacing the locking member 120 along its longitudinal axis 1. It can displace the locking member 120 in the direction indicated with arrow L, and back. In FIGS. 13-15, the actuator 123 is indicated schematically. In this drawing, the actuator 123 is of the electromechanical type. It is positioned around the locking member 120 end engages the outer surface 121 of the locking member 120. For the actuator, alternative embodiments are possible. For instance, a more conventional electromotor may be provided outside the locking member 120. The electromotor may engage the outer surface 121 of the locking member 120. For instance, part if the outer surface may be provided with a tooting or gearing that surrounds the locking member 120. The electromotor engages the tooting and sets the locking member 120 into a rotational motion with the longitudinal axis as rotational axis. In case the outer surface of the locking member is provided with a screw thread and the inner surface of the guiding part 124 is provided with a complementary screw thread, rotation of the locking member 120 will cause it to displace in its longitudinal direction 1. Alternatively, the actuator 123 is provided for setting the locking member 120 into a motion in longitudinal direction 1.

[0573] In the embodiment depicted, the actuator 123 is provided at a distance from the surface of faces 3, 3. This, the actuator engages an upper half of the locking member 120. In an alternative configuration, the actuator 123 may be provided close to the surface of faces 3, 3. This may enable assistance of one holding device in the displacement of the locking member 120 of another holding device.

[0574] In an embodiment, as explained earlier, the actuator 123 can be of the piezo-electrical type. Actuator 123 in fact only needs to be able to displace the locking member 120. The strength of the locking in an embodiment thus depends mainly on the strength of the locking member 120, of the connection of the guiding part 124 to a further construction, and of the mutual engagement of the locking member 120 and the guiding part 124. For instance, the strength of locking against displacement in normal direction of the longitudinal axis of the locking member 120 thus mainly depends on the strength and rigidity transverse or perpendicular to the longitudinal axis of the locking member 120. The actuator 123 may comprise for instance a piezo linear actuator that is marketed under the name Squiggle micro motor by New Scale Technologies, Victor, USA. In such an embodiment, the locking member 120 may comprise the threaded part of the squiggle motor, while the squiggle part of the squiggle motor may be part of the actuator 123. One end of the squiggle part can be linked to the guiding part 124, allowing the rest of the squiggle part to squiggle to displace the locking member 120. The squiggle motor may be seen as a piezoelectric ultrasonic rotary motor system which may include an attached unbalanced mass that generates an oscillating centripetal force perpendicular to an axis of rotation for use as a haptic actuator. In an embodiment, it includes providing a vibrating motor body which has two orthogonal first bending modes and is substantially enclosed within a housing. A shaft is frictionally coupled to the vibrating motor body by applying a force substantially perpendicular to the rotation axis. The shaft is arranged to rotate in at least one direction about a rotation axis in response to the vibrating motor body. One or more bearings are provided that support the shaft, are connected to the housing, and define the axis of rotation of the shaft.

[0575] The holding device 50 further comprises a radiation source 60 for transmitting electromagnetic radiation. The radiation source 60 is arranged in the holding device 50 to couple radiation into the radiation guiding part 126. In particular, the radiation source is a light source that couples light into a light guiding part 126. In FIGS. 13-15, the radiation source is depicted at a distance from the locking member 120. The radiation source 60 may be optically coupled to the locking member 120. The radiation source 60 can be connected to the locking member 120. In an embodiment, it an for instance comprise one or more LEDs connected to the end of the locking member 120, for instance, the radiation source 60 is integrated into an end of the light guiding part 126.

[0576] The holding device further comprises a detector 62 for detecting electromagnetic radiation transmitted by the radiation source. In particular, the detector 62 is a detector for light. In this respect, light is defined in a broad sense, including IR, VIS and UV. For instance, such a light detector 62 may be a photodiode. The light detector 62 may have spatial resolution. For instance, an array of photodiodes may be used, or a camera like a CCD or similar type of camera may be used. The light detector 62 is arranged in the holding device 50 to receive light that is coupled out of the light guiding part 126 at an end of the locking member 120. In particular, that end is opposite to the first locking member end 127. In FIGS. 13-15, the radiation source 60 and radiation detector 62 are provided close together, and are each optically coupled to the same end of the light guiding part 126. Alternatively, the end of the light guiding part 126 may be split into two ends, one optically coupled to the radiation source 60 and the other one optically coupled to the radiation detector 62.

[0577] In an embodiment, the locking member 120 may comprise a reflecting part, for instance on the first end face of locking member 120. In an embodiment, that reflecting part may have a pattern. In this way, a holding device 50 may lock onto another holding device 50 without that holding device needing to be actively involved.

[0578] In FIG. 14, the holding devices 50 of FIG. 13 are depicted, with the lower holding device 50 now engaging the upper holding device 50. In fact, the locking member 120 of the lower holding device 50 now inserted into the guiding part 124 of the upper holding device 50. Thus, effectively, the lower locking member 120 is in a holding position. The faces 3, 3 are not in contact. Rotation of one of the locking members 120 may in certain configurations cause the faces 3, 3 to come together and to come into the configuration of FIG. 15.

[0579] In FIG. 15, the locking member 120 of the lower holding device 50 is in a locking position. The locking member 120 of the lower holding device 50 here been inserted into the guiding part 124 of the upper holding device 50. Furthermore, the faces 3, 3 are in contact. Also, the first face of lower locking member 120 is in contact with the first face of the upper locking member 120.

[0580] Parts or the entire holding device may be produced using for instance a 3D printing process. In particular, for instance a locking member may be 3D printed. When the locking member has a light guide extending in its longitudinal centre, 3D printing may be relatively simple. In particular, a 3D printing process that allows use of different materials. Injection moulding a light guiding part in a hollow locking member may also be a relatively robust processing method.

[0581] In fact, using any of these production processes, or a combination thereof, materials and compounds may be used that can fulfil different functions for different components of parts. For instance, a material may be used that can guide light, put also provides structural integrity. The cladding of a light guide may be conductive for electrical current. The interface of the locking member and the light guide may provide total internal reflection, thus providing light guide properties.

[0582] When a locking member is in its holding position, in particular with end faces of mutual holding devices in contact like in FIGS. 14 and 15, makes transfer of data and/or power relatively easy. During the process of coming into the locking position, however, transfer of data and/or power is also already possible.

[0583] When the light guiding part extends in the longitudinal centre of the locking member, detection of centring/alignment can be done without further components. Producing a non-circular light spot, i.e. a light spot with non-circular cross section, at the first light guiding part end may even allow detection of rotational (with respect to the longitudinal axis) of the holding device.

[0584] It will also be clear that the above description and drawings are included to illustrate some embodiments of the invention, and not to limit the scope of protection. Starting from this disclosure, many more embodiments will be evident to a skilled person. These embodiments are within the scope of protection and the essence of this invention and are obvious combinations of prior art techniques and the disclosure of this patent.

REFERENCE NUMBERS

[0585] 1 element [0586] 2 centre of an element [0587] 3 face of an element [0588] 10 motion module [0589] 11 motion module: track part [0590] 12 slidable cover [0591] 14 motion guiding/motion restriction module [0592] 15 motion guiding/motion restriction module [0593] 20 motion guiding module [0594] 21 straight pin [0595] 22 groove [0596] 30 motion restriction module [0597] 31 pin [0598] 32 slot [0599] 34 cam [0600] 35 undercut opening in slot 32 [0601] 50 holding modules [0602] 51 hand [0603] 60 radiation source [0604] 61 reflector [0605] 62 detector [0606] 63 reflecting patch [0607] 70 piezo module [0608] 71 leg [0609] 72 piezo piece [0610] 73 piezo element [0611] 80 rail [0612] 82 undercut groove [0613] 90 (shared) motion module [0614] 91 Attachment part(s) [0615] 92 displacement part [0616] 93 element displacement part [0617] 95 motion module movement part [0618] 96 motion module movement part [0619] 100 data processing unit [0620] 120 locking member [0621] 121 external surface [0622] 122 first locking member end [0623] 123 actuator for holding module [0624] 124 guiding part [0625] 125 coil surrounding holding module [0626] 126 light guiding part [0627] 127 first light guiding part end [0628] 128 electrical conduit [0629] 200 data communication unit [0630] 300 energy unit [0631] 400 sensor unit [0632] 500 motion module [0633] 600 motion restriction unit [0634] 700 motion guiding module [0635] l longitudinal axis of locking member [0636] L displacement direction of locking member