Well as some already know we went to Amsterdam for the Arduino day. The event was organized by WeVolver, Richard and Bram, whom I’ve met during the 55 printers world record last year in Utrecht.

It took place on the Overkant in Amsterdam, a rather huge working place, where makers gather to build things. The makers had brought their creations along and of course there was some interesting things to see and to talk about. Arduino was one of the subject. :)

Leon, an InMoov follower, although he hasn’t started to build one, was there and had brought some amazing copters made partly with a 3D printer and avery nice CNC he has recently developped. I also had the occasion to test a self balancing mecanism for cameras which gave me some ideas for the hips rotations.

Using InMoov2.0 in public for the first time was interesting, everything worked well. I really enjoyed to “detach” “attach” the servos from power source through voice commands. The 4PID worked perfect. The “search humans” had a rough time because of too many faces to chose from.
Tracking an object seemed a bit less accurate than before, but all the other commands worked very nicely.

Somehow we are almost ready to jump officially to the new version.  Still missing the “capture Gesture”, which is totally necessary if you want to create your own gestures.


Here are some pictures before the event started.

amsterdam(8)Getting organised.

amsterdam(7)This Lady has taken good care of me, preparing “toasties” for my lunch and coffees. Very nice!

amsterdam(6)Leon on the left side who brought a bunch of Arduino Nano because he had read on the site I had burned mine during tests.


Leon’ s copter.

amsterdam(4)Bram Geenen during the introduction speech.

It was not a big event but I thought it was nice and relaxing  because I had time to speak with people instead of just running InMoov with voice commands.


BUT down south, Alessandro in Italy did the show and had a very full day!

giornale 2

Arduino Day -Taranto- InMoov And MyRobotLab - 1Alessandro Didonna doing tracking on a ball with his InMoov using MyRobotLab service 2.0.

 Loads of people and medias apparently. Go Alessandro, go!

MyRobotLab & InMoov made sensation!



It’s been a while that I’m looking to buy silicon finger tips for my InMoov. But every time they are too thick or too wide. So I decided to make my own.

Since everybody is going to need to have similar silicon finger tips, I designed a mold to be 3D printed for everyone to reproduce. The benefit of it, is that they are perfectly adapted to each finger and thin enough for the sensors to still be reactif,  and last of all,  it gives the hand a very good grip on objects.

Here you can download the parts to create the mold.

Here is the complete tuto about it.






I had made a modification to one of the chest part a while ago, which would let us add a PIR  sensor to InMoov. The PIR sensor detects human or movement presence. It is added to InMoov in the goal to wake him up if somebody enters it’s range of perception.

This will only work with InMoov2.0. But for now I haven’t been able to use it because I think my PIR sensor was definitly TOO cheap. I suggest you get this one from RadioShack, wkinne has used it with success. (see his test on MyRobotLab)

I need to add the pin hardware setting to the default map. But we have chosen pin 28 on the Left Arduino Mega.

You can download the new part called MiddleChest+PIRV1.stl on Cubehero within the chest parts.

You can find a simple script to test it here on your InMoov.


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 You can find more scripts for MRL and for InMoov in the Download tab:

If the script is a Inmoov.xxx it is for the MRL version 1695
If the script is a inmoov2.xxx it is for the latest versions
I have modified the pin setting of jaw servo between the two versions
I have added eyes pins which now allow 4 PID tracking.
-Version 1695 pin 12 on Arduino Uno (right side of the robot)
-Version latests pin 26 on Arduino Mega (left side of the robot)
You can find the hardware map and pins connections for inmoov 2.0 here:
InMoov 2.0 is a new service implemented in MyRobotLab, FASTER, STRONGER, BETTER!!
It is not completely functional but it will have more features than inmoov 1.0
Thanks to Grog, and Alessandro we are progressing!!


Haven’t you ever dreamed of speaking with your ears? Well InMoov can!!

:) Seriously, who would dream of that, anyway, I have designed a new set of ears in which we can mount little speakers, see pics below

To Voice control your robot: You can either use the speakers of your PC(desktop, laptop, raspi, odroid, etc.) or headphones or external speakers. You can either use the microphone of your PC or a bluetooth headset like I do.

To do that I had to re-print the complete skull, because I was using the original version which didn’t have the 2 locks for the ears, you guys won’t have to go through that trouble because you have the correct version. You can see a difference of color between the skull and the face. Natural ABS tends to get a bit yellow when it gets older, specially in the sun.

InMoov_ear1 InMoov_ear2


We can use any little USB speakers for PC available. They are very low in price. I could not recommend a specific model because the one I used were already torn down and I had not the brand tag anymore.

These seems to be about the correct size: Frisby USB Mini 2.0 Stereo Computer PC

Please let us know on the forum, what you buy and if they fit my design.

You can use the Speaker STL to get the specification size requirement.

Download them here:


This is the new InMoov Hand in progress. The design is just about ready, and I will post the parts soon for download.

What I want to do with this, is to put for download most of the parts, with the same non commercial license as the robot. But I will print myself two parts and sell them for 300 euros without postage fee. This will help me to finance my InMoov project for a while. Again, I really want to thank all the people that have made a donation. But it is not enough to keep buying servos and ABS to run all the experimentations I’m doing, and of course I’m not counting the numerous hours spent to help people on the forum, emails and designing the parts… When I aded the paypal button I was hoping that donations would be sufficient to finance the project. I definitely need to find another way.

Being OpenSource cost money in this world.

You can see the Advancer Technologies sensor board, the Arduino nano, the driver boards and the motors.
As you can see the parts are designed and sculpted in a way to get the shape of a human hand, to be technologically viable and to get the best results with our home printers. This last part is often forgotten in the conception. You can easily create nice looking shapes with your 3D modeler but if you don’t think of how this is going to come out on your printer, you will end up with parts covered with waves, and what looked nice on your screen will turn out badly on your print. When I design the part I also try to avoid surfaces with a low angle degree, parts always turn out nice when they are standing up on our FDM printers.

I have made a first PDF sketch of the various connections required in the hand. It is not finished because I think I have made a mistake of connections some place and I fried my Arduino Nano (I think). This is why I don’t make a demo video with the fingers in action. Although I can test finger by finger to see if it all works.

So you can see the various components set within the hand and if anyone can contribute by finishing the connections I will be more than happy to post it here on the site for to share with everybody.

Prosthetic InMoov Connect PDF.

Here are some pictures of it during the build process:






Sculpteo, Arthur invited me to do a conference at the NUMA center in Paris, (it is our Silicon center).

I met a lot of very interesting people, I need to mention Stéphane from Cogibot.



Oh, and just to let you know InMoov fell flat on his face the other day…

Tried to catch up my phone, I bumped into the robot, and SLAM!!!!

Fortunatly InMoov is resistant, I would have expected a lot more broken.

1 thumb tip broken, neck worm piston broken, some parts dismantled in the bicep right, one forarm open dismantled partly, nothing bad.

ABS is great because you just reglue the parts with ACETONE and Voilà.

fall flat1

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Still a few years ago I would have never thought that one day I could set a foot on the Russian ground. When the staff of the Geek Picnic invited us to come to Moscow, my wife and I said: “sure why not”, but somehow it still seemed like something that wouldn’t happen.

Slowly days of the event approached and the staff was organizing the trip seriously, hotel reservations, flight tickets, pass for the entrance. But on our side we still had to do a lot, get the visas, prepare the robot to make sure it would work correctly. Most important, and we found that out only two days before our departure, we had to get a form for to declare all parts we were going to make go through the customs.

If you are used with this kind of forms you might think it’s easy, but for us it almost became a nightmare. To the point we almost decided not to go.

Imagine, you need to get a form somewhere in France, not in Paris, within two days. To fill that form, you need to list, number, price without VAT, weight, and where the part was made for each component of everything you are going to take with you. Plus, each of these components need to have a picture that will be in reference to the listing above.  Once done, make 13 copies of that form, send it by email to the CCI, and you get a mail in return that says, you forget to write this there and that here, the number of this doesn’t correspond to the global of that and so on…

Corrections for about two hours, you think you got it right, that finally you are finished,  you send back the form to the CCI. An email comes back asking: Where is the form translated in Russian? Don’t think you can use Google translator because for exemple “speaker” in french becomes “pregnant “. Thanks to Alexander, a Russian InMoov builder, we got the translation done very quickly.

One full day of f… stress!!

The very next day with our suitcases and all our papers in hand we headed for the Airport. Guess what, Air France refused us on board of the plane because of the batteries needed to power up the robot. We had to reorganize the trip and fast, luckily I got on the phone, in Russia, Nattaly the staff organizer, she said they would take care of the extra costs. In the same time I sent a message to Alexander, the InMoov builder in Russia, to find out if he could buy some batteries for me. InMoov without batteries, is useless.

This time we got on the plane, without our batteries, and flew to Moscow.

From then on, everything went smoothly.

The Geek Picnic was organized in a huge space. The 57th Pavillion at Russia exhibition center. The building, beautifully surrounded with large bays of windows allowed the saturday morning sunlight to en-light the biggest technologies and robotics event of Russia.


GeometriaGeekRight reserved


Right reservedpapa_

Right reserved photofacebook

Right reserved geek picnic

Right reserved gorbushkin.ru_news.

Right reserved1rdp7r1lnrx4XKpbYKYuGg

We almost immediatly meet Nattaly, and also Alexander and his assistant. They had brought their InMoov clone which was completely printed but not yet fully wired. I have to mention that I took Alexander by surprise, a few days before our departure, when I invited him to the event, and he didn’t have the time to work on his robot.photo3

Alexander in black clothes, his assistant in the middle and their InMoov clone.

I like the idea to invite a InMoov builder with his clone/replicant in each country we go. I think it goes well with the spirit I’m trying to carry through InMoov

30 000 people came to the event during those two days. It was a huge succes.

Lots of medias,

The Russian Channel 1 TV made a very large interview and also requested a special interview in myworkshop in Paris, once returned home.
There is a bunch of little sequences but the main are at 1:38 and 4:42.
I don’t know what they say but the whole video seems interesting though.

Nicolas of Bionico was there also, with his InMoov prosthetic hand, and this time, the prosthetic was working well. They seemed to have problems in the morning to get good results with the Advancer Technologies sensors, but in the afternoon it was just amazing how well it worked. One thing I suggested is humidity caused by sweat in the sleeve socket, where the sensors are. I suggested that we maybe need to humidify or use a gel to help to get better results from the sensors. And on Sunday it is what they did. The results were there immediately. This is good to know.

Capture d’écran 2014-02-04 à 23.50.21

I found this video where you can see Alexander and his robot and also Nicolas with his InMoov prosthetic hand.

Of course we went to visit Moscow for only a day because I had to return to Paris for work.

photo6 photo7 photo8

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Although the article isn’t about InMoov but about Artificial intelligence I appreciate the idea.

What I don’t appreciate though, is that the picture they used is copyrighted from Getty Image and it gives no attribution to InMoov.  I remember very well who took that picture in London. Almost everybody would ask the permission to take pictures of the robot, but this photographer did not, it was a professional because he had set his camera on foot and away enough so I wouldn’t remark him.

That same night the picture was for sale on Getty Image with under text saying: An employee talking with the robot InMoov.  :(

InMoov on New Yorker

Link to the article

Adafruit has granted InMoov being the top ten coolest stuff to print of 2013 !!

InMoov top ten of the 3d printables 2013 by Adafruit

Link to the article



You might see a lots of comments and posts in Portugues recently. Well, this is due to a Brezilian Globo TV show  called Fantastico, that talked about Robohand, Brancante Gustavo using the InMoov hand for prosthetic purpose and tests. I was surprised when the program contacted me because they wanted to do an interview in Paris. We did that the day before Christmas with their “Envoyé Speciale” based in France.

Link to the video



To finish this post, I had a few days of vacation and guess what I did?

I worked on the new InMoov prosthetic hand. I printed new parts and modified  a lot of the design. So many hours, I’m always amazed how time just passes by when you work in 3 dimension. You can go so deep into details that at the end, those details won’t even be seen in the prints.

Details!! Yeah I did something funny by the way, one part of the InMoov robot has an encryption hidden in the print. Since you can go very, very deep into details you can easily burry some logo or drawing… A message in the bottle.


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