A picking device for picking workpieces having a predetermined shape from a worktable surface, the picking device comprising - a collector arm having a first end and a second end; - a collector head provided at the second end of the collector arm; the collector arm being configured for moving the collector head relative to the worktable surface, and aligning the collector head relative to the workpiece when the workpiece is located on the worktable surface, wherein the collector head comprises - a base connecting to the second end of the collector arm and having a distal surface, and - a front piece arranged distalmost on the base of the collector head, wherein the front piece comprises a body formed in a resilient, pliable material, the body comprising - a proximal surface at a proximal end of the body and configured for connecting to the distal surface of the base; - a distalmost surface (52, 52', 52") formed at an opposite, distal end (60") of the body and parallel to the proximal surface; a depression extending in the proximal direction from the distalmost surface (52, 52', 52"), the depression having a bottom surface and one or more sidewalls (61, 62) extending between the bottom surface and the distalmost surface (52, 52', 52") wherein the depression has a contour shaped to mate at least a portion of the shape of the workpiece, such that when the contour of the depression is aligned with the mating part of the shape of the workpiece on the worktable surface, and when the collector head is pressed over the workpiece, at least the mating portion of the workpiece is received in the depression, and such that the one or more sidewalls (61, 62) of the depression squeezes on surfaces (161, 162) of the workpiece to hold the workpiece in place between the sidewalls (61, 62) of the depression, when the collector head is lifted from the worktable surface, such that the sidewalls of the depression deforms to receive the surfaces of the workpiece in a press fit between the sidewalls of the depression, and wherein a bottom of the depression is distal relative to the proximal surface of the front piece. - a collector arm having a first end and a second end; - a collector head provided at the second end of the collector arm; the collector arm being configured for moving the collector head relative to the worktable surface, and aligning the collector head relative to the workpiece when the workpiece is located on the worktable surface, wherein the collector head comprises - a base connecting to the second end of the collector arm and having a distal surface, and - a front piece arranged distalmost on the base of the collector head, - a base connecting to the second end of the collector arm and having a distal surface, and - a front piece arranged distalmost on the base of the collector head, wherein the front piece comprises a body formed in a resilient, pliable material, the body comprising - a proximal surface at a proximal end of the body and configured for connecting to the distal surface of the base; - a distalmost surface (52, 52', 52") formed at an opposite, distal end (60") of the body and parallel to the proximal surface; a depression extending in the proximal direction from the distalmost surface (52, 52', 52"), the depression having a bottom surface and one or more sidewalls (61, 62) extending between the bottom surface and the distalmost surface (52, 52', 52") wherein the depression has a contour shaped to mate at least a portion of the shape of the workpiece, such that when the contour of the depression is aligned with the mating part of the shape of the workpiece on the worktable surface, and when the collector head is pressed over the workpiece, at least the mating portion of the workpiece is received in the depression, and such that the one or more sidewalls (61, 62) of the depression squeezes on surfaces (161, 162) of the workpiece to hold the workpiece in place between the sidewalls (61, 62) of the depression, when the collector head is lifted from the worktable surface, such that the sidewalls of the depression deforms to receive the surfaces of the workpiece in a press fit between the sidewalls of the depression, and wherein a bottom of the depression is distal relative to the proximal surface of the front piece. - a proximal surface at a proximal end of the body and configured for connecting to the distal surface of the base; - a distalmost surface (52, 52', 52") formed at an opposite, distal end (60") of the body and parallel to the proximal surface; a depression extending in the proximal direction from the distalmost surface (52, 52', 52"), the depression having a bottom surface and one or more sidewalls (61, 62) extending between the bottom surface and the distalmost surface (52, 52', 52") wherein the depression has a contour shaped to mate at least a portion of the shape of the workpiece, such that when the contour of the depression is aligned with the mating part of the shape of the workpiece on the worktable surface, and when the collector head is pressed over the workpiece, at least the mating portion of the workpiece is received in the depression, and such that the one or more sidewalls (61, 62) of the depression squeezes on surfaces (161, 162) of the workpiece to hold the workpiece in place between the sidewalls (61, 62) of the depression, when the collector head is lifted from the worktable surface, such that the sidewalls of the depression deforms to receive the surfaces of the workpiece in a press fit between the sidewalls of the depression, and wherein a bottom of the depression is distal relative to the proximal surface of the front piece.