Fossa

We have been invited to Rennes by Inria for the 2014 Fossa Edition to present the new InMoov2 hand and to make a conference about InMoov and how Open Source Robots can evolve in our society.

Thanks to Stephane Ribas!

inmoov-fossa

Watching the video of the conference, I can’t say I like it. But hey, this is also new to me, so let me experiment and learn to get better at it.

http://www.geekofyou.fr/actualite/fossa-de-rennes-2014/

I had the opportunity to see and get apersonal demonstration of Romeo robot. It was interesting.

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Doing a selfy with Romeo. His eyes were broken for some reason.

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InMoov2 Hand

I finally understood how to solve the issue with my script, now all the fingers can move and the rotation of the thumb works. It will be now interesting to test it with Advancer Technologies muscle sensors. Because the FabLab of Rennes hasn’t the InMoov2 hand ready with connections inside, I took mine to the event LeWeb in Paris.

 

At Le Web, I’m demonstrating the InMoov2 hand with all fingers working to Nicolas:

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Later with great help of Hackerloop, Nicolas and Corentin managed to control the InMoov1 hand with a MYO armband.

Myo Armband controlling InMoov prosthetic version 1

In Mumbai India for the Tech Fest. Mounting it to the socket arm of Nicolas Huchet was a matter of a few minutes, and with the codes I had written, Nicolas could use it, through keyboard, to shake people’s hands.

A big moment!!

 

 

Geek so In by Intel

We also got invited to the Geek so In night organized by INTEL in Paris. I met very interesting people for maybe future events.

http://nemcoshow.fr/article/geek-so-in-by-intel/

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Tech Fest India

Thanks to Ashrith for inviting me, Nicolas and Marc to the TechFest.

Thanks to Aatur, Allan, Bhavya for organizing this trip and being so kind and helpfull during those 6 days.

Thanks to Sandrine Maximillien of the French Embassy, who has made it possible to get my passport and visa in time. And also managed for me to bring InMoov in my luggage.

More than 90 000 visitors in three days went through this tent. You can only imagine how intense this was. The Tech Fest is a free entrance event, anybody from India can come. The crowd was so huge that every 2 minutes, it was a new load of 30 people to whom we had to explain what is InMoov, Bionico, Open Source, 3D printer, robot and prosthetic.

After the 3 days, Nicolas and I were totally washed out, but happy to have done it!!

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Nicolas explaining the project to the crowd, we would relay ourselves, because it was not possible to maintain the rythme alone for the whole day.

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If you watch the below video, you will have a little idea of the noise, I am surprised that InMoov would respond pretty well to my voice commands. When there is music, like at the New York Makerfaire, it becomes very hard to control the robot.

Many, many students are coming to this event from various places of India.

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Nicolas Huchet, Marc Adergal and I, just before the opening.

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The Riidl Automated Chess Team was getting interviewed for Television.

Chess pic new

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Once the Tech Fest was over, I had a day off. So I went with Aatur, Allan and Bhavya to their University to make a conference about InMoov and the Open Source.

 

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Students at the University are assembling my InMoov for the conference. It was interesting to see other persons doing it.  From being dismantled and in my suitcases, the robot was re-assembled and fully working in 45 minutes.

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Some students are already there to watch the assembly before the conference.

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The previous night I had managed to get InMoov to speak in Indies which caused great hilarity during the conference.

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The girls Team.

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Aatur, Allan and Bhavya took me for sight seeing into Mumbai for the rest of the afternoon and night.

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Later we met Nicolas and Marc for diner.

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Next morning, I took my plane back to Paris. The recently inaugurated (2014) airport of Mumbai is a beauty of architecture. Regrettably, it is a very high contraste of technicity and money compared to many parts of Mumbai. I wonder how many families could have lived and eaten with it’s cost…

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I worked recently on the new InMoov hand (InMoov2 hand). I had stopped a few months ago because my wire connections had something wrong and I had burned the Arduino Nano and one of the motor driver board. Being very buzy in all directions, kinect, legs,Nervo boards, Makerfaires,  I got driven away from it until 3 days ago.

Thanks to Leon and Marten which gave me a set of new Arduino Nano, I could start to work again. ( To remind who are Leon and Marten: they are getting the Nervo boards ready and they came to the Makerfaire Paris and Roma)

So getting back on it, I discovered what I done wrong and finally got the index and thumb working. The script I use gives very simple keyboard fonctions for now , although it took me a very long time to adapt it to my needs., but it is mostly a proof of concept. I’m still stucked though with the thumb actuation. For some reason (unknown) it extends but doesn’t retract. I wonder if the driver I’m using got burned somehow during my previous attempts or if it is a script problem.

Since I gave the InMoov2 hand to Nicolas Huchet last August, I need to get new drivers and new motors to complete my tests. At one point I tested also with extracted servo XT900 boards to replace the drivers but the power needed by the Pololu motors just blew them off at the first torque force given to the finger. Therefor only the index and the thumb rotation are working. Anyway it is a big step, because the Arduino, the motors and the drivers are set and wired within the hand.

The speed is very good and the accuracy of motion is great, the torque is much better than with tendons. The last phalange actuation still remains something to work on, maybe with a retraction spring. It somehow doesn’t extend to it’s full potential. Is it due to the resolution of my printed  parts? I think if I get the parts professionaly printed, it should be much better.

Next, I will replace the Nano by a Bluno board to be able to use the hand with a Myo armband through Bluetooth.

Some pics and a short video.image-2 image-3 image-4 image

This month was our second Makerfaire in Roma since I started the InMoov project. We got there just in time with the airplane to get ready with the robot for the next day opening. No problems with customs.

We were set along with the French Makerfaire team, Barbot, Bertier Luyt and Jean-Baptiste and 3DprinterX tattoo Machine.

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Alessandro Didonna was already on the set with his girlfriend, along with Bram Geenen of Wevolver. The location we had was perfect, a huge place with a lot of people passing through, not too much noise, which is good when you talk to the robots.

As planned, there was also Leon and Marten, that had a booth. Unfortunatly they were far away from us, and we only saw each at the end of the days when it was time for Pizza!!!

They had brought their DIY  Gimbal camera stand, a very well made Submarine (1m20) and the second version of the InMoov Nervo boards all ready and soldered to be mounted on the Arduino boards. Alessandro also got a kit. They offered me for my birthday an extra Arduino Mega board!!! Thanks guys!

I bet when the builders are going to see those picture, they are going to ask when are they going to be for sale… Sorry for the delays, but I’m not the only one in the loop on this. :)

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Alessandro had brought his InMoov robot and was ready to demonstrate his DIY Oculus Rift working along with a accelerometer which could control the head and the arm of the robot. The crowd liked it very much. We also have been able to demonstrate the kinect for the first time in public, although it wasn’t ideal because the kinect skeleton would catch anybody in the crowd, which made it a bit hazardous to work.

 

We had the surprise to see Leonardo Triassi which had presented his blue and red InMoov last year.

InMoov won 7 blue Makerfaire ribbons in Roma this year!!!!!!!!!

Good TV and Press interviews, still need to wait to see them published.

Check at 1:56 for the interview of Alessandro:

There will be a documentary on Raï Uno.

In NYC check at 3:30 for the interview of Richard Hulskes of WeVolver.

 InMoov is mentionned in the MAKE book about the 3D printing. There is also a English version.
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Check the Makerfaire pictures.

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At night InMoov can be spooky

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First demo of kinect gestures using MyRobotLab  in public with Alessandro

 

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Bram of Wevolver presented the InMoov hand kit as a prototype to see the reaction of people.

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The InMoov team,  Myrobotlab members (Riidl Chess) and WeVolver meeting Massimo Banzi! From left to right: c Bhavya Gohil, Allen Mendes, Massimo Banzi, Gael Langevin, Aatur Mehta et Bram Geenen.

Massimo+InMoov team

 

Here are the links to the different parts I modified and updated during this month of October. The bicep and shoulder parts are not easy to replace. It took me a whole day to dismantle my previous version and to install these new parts but it is worth it if you plan to travel with InMoov in airplane like I do all the time.

 

Although Forrest Higgs had already modified the piston and base for the bicep, I didn’t re-use his posted parts because I realised that extending my original parts, like he did, created unsmooth surface on the piston thread. I did keep his diameter because it is good and sturdy.

 

The new eye part will help you adjusting the eyes to get them straight and not crossed eyes.
The neck parts are also reinforced and allow a wider up and down range movement.
For the hands it is only the bolts that I slightly modified in length and diameter for the “C” ring.

 

Shoulder:
http://www.thingiverse.com/download:663106
http://www.thingiverse.com/download:839793
http://www.thingiverse.com/download:839794

Eyes:
http://www.thingiverse.com/download:665076

Neck:
https://cubehero.com/physibles/hairygael/Neck_Mechanism_For_InMoov/files/54845d8594a4a789358ba4e15e265ede30f32550/ThroatPistonBaseV3.stl
https://cubehero.com/physibles/hairygael/Neck_Mechanism_For_InMoov/files/c1a3e6f99dcc4f6582c13614ad1912bfff9c106f/ThroatPistonV3.stl

Hand right:
http://www.thingiverse.com/download:839690

Hand Left:
http://www.thingiverse.com/download:839694

 

 

I also went to Tour, in France invited for an evening demo/ show by Alexandre Martel of 3Dnatives. I got to test a little bit the Nao Robot, unfortunatly he had the same sound problems as InMoov, when it got crowdy and noisy, he wouldn’t listen either.

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And to finish the month of October I was also invited in Rennes (France) for the Opportunités Digital au Champs Libres on a prototype run for Bionico.

During 4 days we worked to get my new designed InMoov prosthetic hand wired correctly  to get it adapted with the Advancer Technologies myo electric sensors. The goal was to make it work on Nicolas Huchet. Unfortunatly Nicolas had forgotten to order the drivers to operate the motors I had selected. But there was so much work to do, it didn’t matter so much.

Anyway it was super interesting to meet all those people and to discuss how to proceed. Since they never had assembled the new hand before, it has been a rather good prototype run experiment from which I made a list of some of the modifications I still need to make before launching it on the web.

Four students of the INSA also had modified and printed one of the Enable hand to make it mechanicaly adaptable to a sholder harness. The result is nice and working. (To be followed)

Participants for the prototype run:

- LabFab -Thomas Meghe, Alexandre Galodé, Corentin Le Bris, Elfrich, PA
- FabLlab Orléans -Filipe Franco-
- INSA de Rennes -4 étudiants- Quentin, Benjamin, Thibault, Julien
- IUT de Rennes -Pascal Yon et 1 élève-
- ISBS Paris -Sebastien Millot-
- FabShop (sous réserve) – Jean Baptiste Le Clech
- Perron Tortay Orthopédie -Aude Roinson-
- Orthofiga -Denis, Dominique Filloneau
- Centre mutualiste de kerpape -Willy Allegre-
- InMoov -Gaël Langevin-