I have been working on the design and motorization of a new head.

This new head is compatible with the three piston neck and the rest of the InMoov body. It has a silicon skin made in some 3D printable molds and can do face expressions.

Here is the female version:

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

This is the male version:

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

This is the male version in motion. For this test I have used some bad SG90 servos which burn and are awfully noisy.

I also have implemented those face expressions into Myrobotlab, so it is pretty easy to test and have fun with it.

To launch all servos for the i2Head, start the head via InMoov UI, then a toggle button will appear at the left bottom. Clicking on that button will allow you to start all necessary servos. You will need to calibrate them and connect them to controllers and PCA9685 according to this spreadsheet.


Note that the i2Eyes are synced to the original eyeX and eyeY.

Also the i2Eyelids are synced to the original eyelids servos.

This will probably change in the future, but for now it allows to use standard gestures to operate the i2Eyes and i2Eyelids.

Here is the listed names for the new servos:

## the eyes
i01_head_eyeLeftUD
i01_head_eyeLeftLR
i01_head_eyeRightUD
i01_head_eyeRightLR

## the eyelids
i01_head_eyelidLeftUpper
i01_head_eyelidLeftLower
i01_head_eyelidRightUpper
i01_head_eyelidRightLower

## the eyebrows
i01_head_eyebrowRight
i01_head_eyebrowLeft

## the cheeks
i01_head_cheekRight
i01_head_cheekLeft

## the upper lip
i01_head_upperLip

## the for head
i01_head_forheadRight
i01_head_forheadLeft

 

You can find all stl files in the InMoov site STL gallery:

https://inmoov.fr/inmoov-stl-parts-viewer/?bodyparts=i2Head

https://inmoov.fr/inmoov-stl-parts-viewer/?bodyparts=i2Eyes

Molds are now available in the STL gallery. The size of the molds are big and require a big print area. Check if it fits your printer prior starting building the head. Standard 220x220mm bed Size will do the job.
The silicon reference is Smooth-On 00-10. One skin requires about 500Gr You can color silicon with oil paint or pigments. You can also add flocking to give it skin touch. Because skin color is very light and slightly transparent, you only need to add a very little amount. Mainly white, then some red and a tiny bit of yellow.
15 servos JX PDI 1109MG (avoid using cheap SG90, they won’t last long)
2 servos JX PDI 6221MG
28 magnets neodyme 10×1.5mm
1 or 2 micro camera https://fr.aliexpress.com/item/1005004200917640.html?spm=a2g0o.order_list.order_list_main.76.40465e5b637U38&gatewayAdapt=glo2fra
Tutorial here
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Gael Langevin

Comments 19

  1. Gull Dyvers

    Im looking for the molds in the STL gallery but am having issues finding them. Im also not able to load the tutorial at the moment. Thanks for the updates and Im excited to build!

  2. Peter Dambrowsky

    Hello. I have only a Question: I have build my Eye-System und now I am looking for a Head to mount it. Where can I buy an empty Head und how much is this? I will build the whole construction in the Head by myself.
    Thank you for every Tip.
    Peter Dambrowsky

  3. chentong

    Hello, I just checked the i2head tutorial, but I can’t open it. Please check to see if there is something wrong.
    Thank you
    Peter Dambrowsky

  6. Matteo Franchin

    Hi, i’m seraching for the tutorial to assemble the new eyes, but i can’t find it, is there something that help me to know how to assemble the various component to create the eye assembly to mount on the new head?
    Thanks

  7. T800

    Hello, building the I2head, any one got a clue where the magnets are for?
    It is not in the tutorial?
    Thanx, I’ll be back!

  9. Gustavo Aldo Taulamet

    Hello everyone! This new version of the head is incredible. I have a question regarding silicone, here where I live I get Smooth on Dragon Skin Fx-Pro which has a hardness of 2A shore A. Do you have any idea if it will work for me? Thank you very much in advance.

  10. GPIPE10

    Dear @gael and community
    I would like to know if there is more information about how to make the skin part of the i2head, there is already all the information about the materials recommended to use, but I would like to know how to make the skin part with the silicone, and then how to attach the skin already taken out of the mold to the structure of the head already built.

  11. Romuald Thirache

    Hi guys, Salut à vous tous,

    I am actually trying to build the i2 Head and I am getting few issues with it.
    First issue is that I am using JX PDI 6221MG 180° and the servo motor does not really fit inside the ServoAdapter, ServoHorn Adapter and SkullServoFix. Which end with the SkullServoFix being 2 mm too high. Then “Attach to the horn UpperLip with 2 screws”, does not really help. I can use only one screw with to the servo motor and the UpperLip is not really in the middle of the teeth.
    And finaly, I can not find any tutorial regarding the i2 eyes 🙁

    I would appreciate any help.

    Thx a lot and a big big Huge Thx to Gael for that superbe work !

    Best regards

    Romuald

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