I'm not any kind of professional so if this is stupid advice just ignore it. I am not perfect at anatomy but I think you need to make a nose bone because it can hold that skin that's being stretched. The cartilage on peoples noses holds the nose up but the skin on the face seems to be also held from that point too I assume with the ears also falling into alignment there as well. Kind of like an imaginary line from nose to ears being at the right alignment - there is cheek muscles and nose cartilage grafting onto the bone / skull. I would put a spacer where the nose bone would be and have it make surface tension kind of similar to what you did with the eyelids.
I think you're right. Some kind of nose bone, maybe with a bit of an adjustable hook(s) so I can make minor adjustments to the tension - pulling the nose-bridge inwards a bit. Best case scenario would be a little knob I can turn to tighten it a bit after i've got the face on there.
I would suggest using 14 gauge wire to form the under eye lids. It can easily be shaped to match the eye and the silicone cab be molded around it. With a ring formed in the end after a 90° bend it could even be used to control the lower eyelid movement. Just shape it something like a servo horn with a ring big enough to pass the linkage screw through.
I did an experiment with your vidoes. I showed them to several groups of friends. For someone I casually introduced it as "check what this guy made". For the other I introduced ot as "check out what this woman made". Fascinating results, nearly everyone going in thinking a woman made it was creeped out but ultimately said it was really cool too. Meanwhile the introduced as man groups were also creeped out but got comments like "he needs to be arrested", and "he shouldn't be allowed near this". Interestingly someone in the introduced as a woman group thought it wasn't a woman, because as she said "women don't film like that"
This all is so fascinathing to me. I don't really care for the AI aspects of it, but the building of the robotics of this android is super intersting. I'm glad TH-cam randomly recommended the shoulder video back in May.
I'm not too sure why TH-cam randomly recommended this video to me, but I'm glad it did, and I've been binge watching the entire series since. Very impressive to watch how it's all been coming together, and all the various design iterations. One of the first anime I ever watched was "Chobits", and as a teen, I had a bit of a crush on the character "Cameron" from "Terminator: The Sarah Connor Chronicles", so I've also kind of had a weird interest in female androids for a long time. Keep up the good work, and I'll definitely be interested to see how this project progresses over time 🙂
I mean this is really cool but search for disney animatronics for example and you will realice that things are a lot more advanced than this in professional fields (this is no insult to his work but things developed nowadays are crazy)
Yeah no that’s not true at all. He is good but saying he makes more progress with things that Disney has literally already done 50 years ago… not sure about that
On the behalf of all the weebs: You sir are doing God's work. Joke's aside this is a really cool and promising project. What's the end goal? Just the face or are you going for a full blown animatronic?
@@DaveMakes I saw an article about muscle-like actuation realized with graphene-liquid crystalline elastomer composites. Tiny thin fibers controlled by small amount of current. I have no idea if they are available for sale or if they are in any production-like state past R&D, but I think they could solve most of your issues with flexible curvature - eyelids, facial muscles, tongue.
@@sergeiborodin9254 Sounds like what they call Myomer in Battletech. For something similar that we can make today, check out ALEX LAB where he uses Hydrogen to make muscles
Regarding the skin below the eye, you could use the same velcro technique you used for the eyelid. But since you need that bottom skin to be tight against the face, you could attach the velcro to a little threaded panel, and you could turn a screw in the back to adjust the depth of the panel. Or instead of a screw, you could use a rubber band in the back or something. But the main point is the velcro pad attached to a panel that is pulled backwards towards the face. And the way the silicone is bound to the velcro, it should be a an effective way of keeping the skin from sagging
Phenomenal work my friend, haven’t had a lot of time to watch videos over the last couple months but I’m def catching up on your work over the winter break :) These are some exciting advancements, always a blast watching your progress on Hannah ❤
i've always wanted to make smth like this, i've thought so long about how to make every single part of the body. i'm glad someone is actually building something!
for the skin stretch problem you could really just use magnets to pull certain parts of it together like in the nose since that isnt a part that will be moved alot it would also maybe help with the eye gap a bit, or you prob plan on adding it but you could just add a temporary bottom eyelid just to hold it and fix the gap issue + the gap when she blinks, but idk im no expert im just guessing lol anyway, i love the project keep the awesome work my man, i hope to one day be able to do something like this.
Congrats on the ad. Awesome to watch the progress. cant u add a bottom eye lid to the top eyelid with a little gear sides. so when its nearly closed it pulls the bottom one up? Great job as always.
If I had bottom lids in there it would probably not be an issue. Not sure I have the space in the skull for all the mechanics to do that though. I'd want to control them separately from the top lids if possible.
You should look into salvaging from large office printers. Literal dozens of various stepper motors. They use photointerrupters for homing and have almost a hundred of those in one machine. But that's just my two cents lol
Awesome work, I am once again in awe of how far this project has come. I love the new motors which don't make a sound. I always look forward to your update videos, this is so cool! On that note, once you cover up all the electronics, I would assume most sounds coming from the robot as masked and therefore muted? Also, would it be possible for you to post a video in the future showcasing the speed and power of the motors? I am very curious to see how fast the head is capable of moving/turning.
Yeah, i'll try to add a better demo of the motors in a future video. They can definitely move quite quickly, though they're not like drone motors. These are optimized for torque rather than speed (different winding style I think?).
Velcro is very nice work really. I thought it would look clunky at first, but its not. About face deformation.. maybe same velcro "frame" for overall face? like snowboard-glasses-shaped (but flat) frame with same velcro? so it won't affect eyes, but will "save" nose and things out of the eye/brows area. I think it will work pretty well. same velcro for the chin and parts of the jaw, cheeks maybe more free tho (like what if you invent some-kind of way for her to be able to puff and "suck in" the cheeks, etc, who knows?) overall super nice upgrade, keep up the great work, for the future!
This is awesome. Keep it up. And consider a collaboration with clone robotics. Their muscular skeletal system plus your aesthetic designs would be amazing.
@DaveMakes they use hydraulics instead of motors, and it produces a very humanoid movement. It's basically simulated tendons and muscle. Even with only a simple clothing sleeve like spandex, it looks very convincing. Almost like a hand wearing an opera glove over a gaunt arm. At some point they'll be looking to do aesthetic improvements with their models. It might be a good time now to get in touch with them so you're on their radar when they get to that step. Again, just a suggestion. They haven't actually gotten one of their models to walk yet, but they're currently developing the lower body now. If you were able to get on their design team for the aesthetic portion, they could release anime robots, which would of course sell like hotcakes. Then all they'd have to do is get a licensing deal for the character Hatsune Miku. And it would be like printing gold. Good luck. And I'll keep an eye out for your videos over the years.
Honestly, you could probably fix the loose skin problem with something akin to a bridge piercing; just a short metal rod that has little balls/spacers on the ends that could pinch the skin into the sides of the nose
Maybe you can bond plastic screws/rivets like they have at Essentra to the inside of the cast using that glue? To pull the nose skin in. People have also made silicone gecko tape in youtube videos, you could try to integrate that, however might be hard demold.
what about moving the eye forward in the socket to meet the lids removing the gap or change the shape of the eye for the mould resulting in more meat in that bottom eyelid in preparation for it to sage a bit
You may be able to make the skin stick around the nose by embedding magnets in the plastic and doing something almost like a subdermal implant on the inside of the face. Thanks for sharing the video.
Is that picture at the end the dream you are trying to make reality? If so I hope you get there some day because that would be awesome. I myself have ideas of projects similar to this but I am no where close to the skill and progress you have achieved.
Looking freaky, but in a good way! For the lower lid, couldn't you just attach the silicone to a shaped piece of steel armature wire? Possibly even embed it into the silicone?
yeah, that's not a bad idea. I'm wondering if maybe I leave room for a small cavity there so I can really stick some wire in there. Pull it tight from behind. Maybe even just some nylon string.
To simulate the mechanical binding effect of the velcro loops without the added thickness of the velcro, do you think printing the plastic of the eyelid with perforations for the silicone to anchor itself through would work? It would require some silicone to end up on the back side of the eyelid to form a wider mass that can't fit back through the perforations, but I don't know if that would be a problem.
Thanks for the update. Are you going to share the details of the motors with us? Its a really nice upgrade. I keep thinking about the 15 servos in an arm for fingers setup and have no idea how that could span out without giving up on individual joint control.
the motors for the neck are GM5208-12's, and other smaller gimbal motors in the head. Typically used for camera gimbals I think. I'm thinking 7 axis for an arm, and some greatly simplified hand shape. Maybe built around the idea of having a single motor articulating one particular grasp very well with some linkages, but no others. Interchangeable hands for different grips maybe? Not sure, probably i'll change my mind a dozen times before I get down to the hands.
@@DaveMakes Thanks for the info. Yeah I do like the interchangeable hand idea. I do wonder now if changeable at the top of the forearm would be good to enable full variety changeable mechanisms. Anyway, good luck with the progress.
Plastic surgeons often have to correct ectropion, the eversion of the lower eyelid that happens with age. I would put a thin nylon thread inside the skin and anchor it around the eye.
You're asking how to make skin colour? red, yellow and white pigment. Maybe some green or blue to alter the saturation as well. Don't want to add too much white, or other opaque pigments. Some yes, but not too much. Translucency is important for skin to look real.
@@DaveMakes this has been very insightful! You really know you're stuff. which isn't surprising, given the advanced lifelike humanoid animatronic in the above video.
Ever contrast and compare to other people doing similar projects? I've seen one or two others on TH-cam, and it seems different problems have been solved better on the different armature rigs. If various constraints like time/money aren't too much, might be neat to reproduce each others setups and see what can be learned from it. I guess the phrase "animatronic head" is the key phrase to see what's going on with this stuff in general. Sharing may help in the field since it's still relatively new, as long as the creators within it aren't too protective of their "secret sauce" for their character recipes.
I'm aware of a few others, yeah. unfortunately time and money are definitely a constraint. Motors and electronics components are not cheap. I think this can contribute to problems with sharing ideas, in this or any domain. One needs money to survive, so it is difficult to give away ideas or time so long as the future is uncertain.
10:26 lol I'm blinking my own eyes like "do the bottom ones move?" would be interested to see how you structure the code since it will be a lot of sub systems talking to each other/larger parent ones also if the motion becomes functions callable as agents for an LLM if it's driven that way from vision context/audio commands
lots of distributed microcontrollers set up to receive simple position instructions from some master controller. I will likely try doing this wirelessly. Hannahs brain can be a desktop computer nearby, without having to be inside her. I imagine a large variety of movement behaviours, poses, actions and blends of actions to be situationally addressed by an LLM that chooses which motions are the most appropriate at any given moment. In a rudimentary way, an example I can think of would be the Bing chatbot. It uses a lot of emoticons, and it does so fairly naturally in appropriate situations. Those emoticons can be translated into a variety of motions or poses. A bit of sensor awareness in the robot can further modify the way the emoticons are inflected, taking into account people in the environment and other things as well. That's what i'm thinking at the moment, but it will be a bit of time before I can get around to doing it.
@@DaveMakes I'm thinking websocket and JSON for real time transfer/shape of payload. But I would think you'd have to have some kind of computer onboard to do that talking to remote/maintaining state until remote command is given. eventually you'll get to SLAM from the eyes/IMU(s) inside and pressure feedback, etc... man crazy project, throw in self charging
Have you considered having a pocket in the eyelid material that the printed piece would slot inside? The eyelid itself looks to need a fold in it, to be able to stretch down further, and to move up without moving the eyebrow section.
I'm pretty happy with it right now. I had real worries about the thickness going into it. Turned out ok though. Could be better, and I hope I can improve it even more, but it worked out well.
you could do the same with a flexible cable. giving you more room for other components in the future. the motor would just need to be reoriented. a tensioning system integrated into the silicone of the eyelid ? maybe som nylon line or some banding that you can access from inside of the head when the face is on. just enough to eliminate the game between the lids and the eye?'
@@ModdedGarage I misread your comment as two separate sentences for some reason. this is really cool. what are you doing btw. I may have been awake for too long.
1. The interface between the upper eye lid and the rest of the skin is too thick. 2. You proubably need to use hooks/dovels/slots to hold skin. Imagine, you're holding a ball in your hand. Now imagine the fingers curved outwards instead of inwards. Now put those fingers on the outside rim of the eye. With corresponding slots in the skin, you would be able to clip the surrounding skin in place. The circumference of the skin rim should be just a bit smaller than the actual eye rim, so that it would be stretched a bit and would hold itself in place firmly. Best materials would probably be metal wires for hooks, and stiffer (and strudier) silicone for slots. The wires are heat-inserted/melted into the plastic base (i.e. non-hook end is bent into circle/spiral/grill), the slots glued into the matching cavities in the skin (slots can be plain cylinders/cones/half-spheres on the surface, that is glued to skin).
Another point of contention for me is how you all are making the skin. Why uniform silicone? It's fragile at desired thickness. Have you tried compositing? In the forming base, spray a thin layer of silicone, let it cure partially, spray another layer, repeat to about 2/3 or 1/2 of the desired thickness. Now on the partially cured skin, put composite materials that can be soaked with silicone, f.e. use patches of fabric or teflon tape there you need large surfaces resistant to tear and shear (cheeks, forehead etc.), cotton thread where you need structural strength (eye rim, mouth, outer rim etc.). Then spray next layers of silicon. Repeat for whatever layers count needed. This way proubably would be able to make much thinner but sturdier skin, with varying properties in different areas where needed: thin skin for oftenly deforming areas (eye lids f.e.), thicker and sturdier areas with incorporated interfaces/slots where an interface with a motor/anchor is needed etc.
I don't really have a set up for doing that kind of work with silicone. To work it through a spray system of some kind would mean a lot of solvents to get the silicone to flow, and also to clean the spray tool afterwards. I'm working out of my living room here, I don't have a shop with good ventilation. Completely agree that layering different kinds of silicone could create very nice results.
Would you consider selling your STL and design notes? I’m collecting a ton of data to build a 1:1 scale humanoid robot. Your work is excellent and I want to incorporate it into my own.
well this whole thing is far from a finished design. I think that at some point I would like to be able to sell it, if possible. That could be a long time in the future though. It's largely a learning project for me.
Is there any particular reason for using separate motors/servos for each eye and eyelids? Wouldn't one motor for each be more efficient, plus less weight in the head, and also less coding overall?
i'm using two motors for the eyes X axis to allow for convergence. So when she is tracking faces with her camera later on she will be able to adjust the distance of her pupils accurately. Pupils are parallel when looking into the distance and look inwards when focusing on near targets. The Y axis has only one motor shared between both eyes. Each eye lid has its own motor for similar reasons. Ideally I would have 4 separate motors for each eyelid (upper and lower, left and right). For added control over facial expressions.
Can i ask you your scope? what do you want to archive? like a full android that can move, just a doll that can do some realistic movements? or you just do what you feel and see where it gets you? Keep the good work Mate
can i ask for your opinion? i make on my channel robotics related tutorials to show my progression and as resume for job application and mostly i make projects explanation in text instead of talking because it seems more clear and simple. but i wonder if that is a good idea?
I think seeing something working does a lot of good things for you. It looks like you're working on a geared actuator? Not sure about what would make for a good resume, honestly. Clarity, brevity, that sort of thing.
oh yea funny i was trying to comment on a other channel but i think yt glitches again were it loads a former video comment section so my comment ended up here.
Well I will be putting some AI inside to allow for dynamic interactions. Certainly to have conversations with her, which I've experimented with already. I'll be working soon on some robot arms for her. I don't know how well this will go, but there may be some ability to interact that way too.
In real life humans have a lot of fat around their eyeballs, so eyelids and skin around them is supported by that layer. Maybe this could help you with holding skin?
Making the doll faces more artsy than realistic is a clever move. You're detouring the uncally valley by a hillside.
This is like a reality show for Geppetto's workshop .
Geppetto 2049
insane quality for just one person working, been watching for a while now, its very impressive to a layman like me
Wow, thanks! :)
200 years in the future, fully aware Androids will watch this in awe and say "Wow, so this was my ancestor"
I'm not any kind of professional so if this is stupid advice just ignore it. I am not perfect at anatomy but I think you need to make a nose bone because it can hold that skin that's being stretched. The cartilage on peoples noses holds the nose up but the skin on the face seems to be also held from that point too I assume with the ears also falling into alignment there as well. Kind of like an imaginary line from nose to ears being at the right alignment - there is cheek muscles and nose cartilage grafting onto the bone / skull. I would put a spacer where the nose bone would be and have it make surface tension kind of similar to what you did with the eyelids.
I think you're right. Some kind of nose bone, maybe with a bit of an adjustable hook(s) so I can make minor adjustments to the tension - pulling the nose-bridge inwards a bit. Best case scenario would be a little knob I can turn to tighten it a bit after i've got the face on there.
I would suggest using 14 gauge wire to form the under eye lids. It can easily be shaped to match the eye and the silicone cab be molded around it. With a ring formed in the end after a 90° bend it could even be used to control the lower eyelid movement. Just shape it something like a servo horn with a ring big enough to pass the linkage screw through.
That sounds like a good idea for the eyelids. I may try that out!
Hello, everytime i see one new video i'm happy, I love this project pls continue it and finish Hannah
Once this project is complete, I hope you'll find a way to produce more of them, or at least publish detailed instructions for the entire thing
For what? To support more degenerate behaviour by distributing robotic gf? Jesus
Ghost in the shell levels of creepy. It's extremely amazing, but uncanny valley danger warning certainly engaged lol
I did an experiment with your vidoes. I showed them to several groups of friends. For someone I casually introduced it as "check what this guy made". For the other I introduced ot as "check out what this woman made". Fascinating results, nearly everyone going in thinking a woman made it was creeped out but ultimately said it was really cool too. Meanwhile the introduced as man groups were also creeped out but got comments like "he needs to be arrested", and "he shouldn't be allowed near this". Interestingly someone in the introduced as a woman group thought it wasn't a woman, because as she said "women don't film like that"
Thanks for sharing.
>Its afraid
Something... something... double standards I think it's called.
So you played them with no audio or what?
You’re lying
I'm always getting new ideas when I watch you work on Hannah.
This all is so fascinathing to me. I don't really care for the AI aspects of it, but the building of the robotics of this android is super intersting. I'm glad TH-cam randomly recommended the shoulder video back in May.
I'm not too sure why TH-cam randomly recommended this video to me, but I'm glad it did, and I've been binge watching the entire series since. Very impressive to watch how it's all been coming together, and all the various design iterations.
One of the first anime I ever watched was "Chobits", and as a teen, I had a bit of a crush on the character "Cameron" from "Terminator: The Sarah Connor Chronicles", so I've also kind of had a weird interest in female androids for a long time. Keep up the good work, and I'll definitely be interested to see how this project progresses over time 🙂
welcome!
You are making more progress in the field of robotics than humanity has in decades and just just to build yourself a gf. I'm genuinely moved 😭😭😭
he is building Alita :>
Well you gotta spend money on a girl somehow 🤣
There are definitely more advanced ones out there, but none that are hotter or have more allergies
I mean this is really cool but search for disney animatronics for example and you will realice that things are a lot more advanced than this in professional fields (this is no insult to his work but things developed nowadays are crazy)
Yeah no that’s not true at all. He is good but saying he makes more progress with things that Disney has literally already done 50 years ago… not sure about that
On the behalf of all the weebs: You sir are doing God's work.
Joke's aside this is a really cool and promising project. What's the end goal? Just the face or are you going for a full blown animatronic?
whole upper torso and arms at the least. I think the next video will be a revised shoulder design. Working towards 7 axis arms.
@@DaveMakes I saw an article about muscle-like actuation realized with graphene-liquid crystalline elastomer composites. Tiny thin fibers controlled by small amount of current. I have no idea if they are available for sale or if they are in any production-like state past R&D, but I think they could solve most of your issues with flexible curvature - eyelids, facial muscles, tongue.
Well if I ever see them turn up on aliexpress, i'll give them I try. Might be a while though.
@@sergeiborodin9254 Sounds like what they call Myomer in Battletech. For something similar that we can make today, check out ALEX LAB where he uses Hydrogen to make muscles
every day one step closer. good work.
This project is soooo cool (even if a little bit creepy., too 😉)
Really makes you appreciate just how complex our bodies are.
Ooooh. Oh that looks so much more natural.
She's looking better & better as time goes on.
Great work Dave. Give your friend a call. Derek, Merry Christmas
Merry Christmas Derek. :)
Merry Christmas Derek
We don’t know eachother but ye :D
Regarding the skin below the eye, you could use the same velcro technique you used for the eyelid. But since you need that bottom skin to be tight against the face, you could attach the velcro to a little threaded panel, and you could turn a screw in the back to adjust the depth of the panel. Or instead of a screw, you could use a rubber band in the back or something. But the main point is the velcro pad attached to a panel that is pulled backwards towards the face. And the way the silicone is bound to the velcro, it should be a an effective way of keeping the skin from sagging
I think that could work, yeah.
Phenomenal work my friend, haven’t had a lot of time to watch videos over the last couple months but I’m def catching up on your work over the winter break :) These are some exciting advancements, always a blast watching your progress on Hannah ❤
Thanks for the kind words, glad you're enjoying the project!
greate job, watching these projects really makes you appreciate how amazing muscles are
Congratulations from Brazil, master!
i've always wanted to make smth like this, i've thought so long about how to make every single part of the body. i'm glad someone is actually building something!
Man, this is so cool.... I wish you luck with your project
thanks!
for the skin stretch problem you could really just use magnets to pull certain parts of it together like in the nose since that isnt a part that will be moved alot it would also maybe help with the eye gap a bit, or you prob plan on adding it but you could just add a temporary bottom eyelid just to hold it and fix the gap issue + the gap when she blinks, but idk im no expert im just guessing lol anyway, i love the project keep the awesome work my man, i hope to one day be able to do something like this.
The jagged, torn edges of the eye lids are so unsettling
Congrats on the ad. Awesome to watch the progress. cant u add a bottom eye lid to the top eyelid with a little gear sides. so when its nearly closed it pulls the bottom one up? Great job as always.
If I had bottom lids in there it would probably not be an issue. Not sure I have the space in the skull for all the mechanics to do that though. I'd want to control them separately from the top lids if possible.
You should look into salvaging from large office printers. Literal dozens of various stepper motors. They use photointerrupters for homing and have almost a hundred of those in one machine. But that's just my two cents lol
sounds very useful. stepper motors are great.
Awesome work, I am once again in awe of how far this project has come. I love the new motors which don't make a sound. I always look forward to your update videos, this is so cool!
On that note, once you cover up all the electronics, I would assume most sounds coming from the robot as masked and therefore muted?
Also, would it be possible for you to post a video in the future showcasing the speed and power of the motors? I am very curious to see how fast the head is capable of moving/turning.
Yeah, i'll try to add a better demo of the motors in a future video. They can definitely move quite quickly, though they're not like drone motors. These are optimized for torque rather than speed (different winding style I think?).
THE POTENTIAL OF THIS OMGGGGGG
Velcro is very nice work really. I thought it would look clunky at first, but its not. About face deformation.. maybe same velcro "frame" for overall face? like snowboard-glasses-shaped (but flat) frame with same velcro? so it won't affect eyes, but will "save" nose and things out of the eye/brows area. I think it will work pretty well. same velcro for the chin and parts of the jaw, cheeks maybe more free tho (like what if you invent some-kind of way for her to be able to puff and "suck in" the cheeks, etc, who knows?) overall super nice upgrade, keep up the great work, for the future!
So cool, thanks for the update
Amazing as always, thanks for sharing 👍
fuck yeah man, congrats on the sponsor dude
Incredible engineering!! While I may not be a fan of the AI image at the end, I think the project itself is awesome!!
These look so good!
This is awesome. Keep it up. And consider a collaboration with clone robotics. Their muscular skeletal system plus your aesthetic designs would be amazing.
Thanks for the suggestion! I'll check out their work.
@DaveMakes they use hydraulics instead of motors, and it produces a very humanoid movement. It's basically simulated tendons and muscle. Even with only a simple clothing sleeve like spandex, it looks very convincing. Almost like a hand wearing an opera glove over a gaunt arm.
At some point they'll be looking to do aesthetic improvements with their models. It might be a good time now to get in touch with them so you're on their radar when they get to that step.
Again, just a suggestion. They haven't actually gotten one of their models to walk yet, but they're currently developing the lower body now.
If you were able to get on their design team for the aesthetic portion, they could release anime robots, which would of course sell like hotcakes. Then all they'd have to do is get a licensing deal for the character Hatsune Miku. And it would be like printing gold.
Good luck.
And I'll keep an eye out for your videos over the years.
I'm glad she's not scary this time cause she has her skin on. 😃
6:17 whoops nvm. Ahhh! 😱
Honestly, you could probably fix the loose skin problem with something akin to a bridge piercing; just a short metal rod that has little balls/spacers on the ends that could pinch the skin into the sides of the nose
very nice idea!
Amazing!! Very well thought out!
Maybe you can bond plastic screws/rivets like they have at Essentra to the inside of the cast using that glue? To pull the nose skin in. People have also made silicone gecko tape in youtube videos, you could try to integrate that, however might be hard demold.
i'll have to explore these. plastic rivets might work for some areas. thanks!
Ficou incrível 👏👏, quero muito aprender a fazer esses robôs.
Stunning work
what about moving the eye forward in the socket to meet the lids removing the gap or change the shape of the eye for the mould resulting in more meat in that bottom eyelid in preparation for it to sage a bit
I could try pre-deforming the skin before casting. So it has extra tension. Move the lower lid up a bit as well, yeah.
You may be able to make the skin stick around the nose by embedding magnets in the plastic and doing something almost like a subdermal implant on the inside of the face. Thanks for sharing the video.
Is that picture at the end the dream you are trying to make reality? If so I hope you get there some day because that would be awesome. I myself have ideas of projects similar to this but I am no where close to the skill and progress you have achieved.
need to start somewhere. I found drilling into the combination of 3d modeling and 3d printing to be very helpful for my own learning.
Looking freaky, but in a good way!
For the lower lid, couldn't you just attach the silicone to a shaped piece of steel armature wire? Possibly even embed it into the silicone?
yeah, that's not a bad idea. I'm wondering if maybe I leave room for a small cavity there so I can really stick some wire in there. Pull it tight from behind. Maybe even just some nylon string.
To simulate the mechanical binding effect of the velcro loops without the added thickness of the velcro, do you think printing the plastic of the eyelid with perforations for the silicone to anchor itself through would work? It would require some silicone to end up on the back side of the eyelid to form a wider mass that can't fit back through the perforations, but I don't know if that would be a problem.
it might work. I'll see what I can come up with! shaving even half a millimeter off the thickness would be good.
Thanks for the update. Are you going to share the details of the motors with us? Its a really nice upgrade. I keep thinking about the 15 servos in an arm for fingers setup and have no idea how that could span out without giving up on individual joint control.
the motors for the neck are GM5208-12's, and other smaller gimbal motors in the head. Typically used for camera gimbals I think.
I'm thinking 7 axis for an arm, and some greatly simplified hand shape. Maybe built around the idea of having a single motor articulating one particular grasp very well with some linkages, but no others. Interchangeable hands for different grips maybe? Not sure, probably i'll change my mind a dozen times before I get down to the hands.
@@DaveMakes Thanks for the info. Yeah I do like the interchangeable hand idea. I do wonder now if changeable at the top of the forearm would be good to enable full variety changeable mechanisms. Anyway, good luck with the progress.
1:07 💀
I want to make something similar
looks like you're scratching her head and she loves it 😆
Plastic surgeons often have to correct ectropion, the eversion of the lower eyelid that happens with age. I would put a thin nylon thread inside the skin and anchor it around the eye.
I think that's the best bet for fixing this head. I'll see what I can do differently for future heads though.
What do you use for the synthetic skin?
Ecoflex silicone.
@DaveMakes thank you! Do you remember what colorings?
You're asking how to make skin colour? red, yellow and white pigment. Maybe some green or blue to alter the saturation as well. Don't want to add too much white, or other opaque pigments. Some yes, but not too much. Translucency is important for skin to look real.
@@DaveMakes this has been very insightful! You really know you're stuff. which isn't surprising, given the advanced lifelike humanoid animatronic in the above video.
Noonian Soong am I right or what 😎👍
4:20 there's functional velcro models. Might be able to skip needing to glue a separate velcro piece
good candidate for a high resolution UV resin print maybe.
Now i realize, the head with hair is D'arce from Fear and hunger, lmao
Ever contrast and compare to other people doing similar projects? I've seen one or two others on TH-cam, and it seems different problems have been solved better on the different armature rigs. If various constraints like time/money aren't too much, might be neat to reproduce each others setups and see what can be learned from it. I guess the phrase "animatronic head" is the key phrase to see what's going on with this stuff in general. Sharing may help in the field since it's still relatively new, as long as the creators within it aren't too protective of their "secret sauce" for their character recipes.
I'm aware of a few others, yeah. unfortunately time and money are definitely a constraint. Motors and electronics components are not cheap. I think this can contribute to problems with sharing ideas, in this or any domain. One needs money to survive, so it is difficult to give away ideas or time so long as the future is uncertain.
10:26 lol I'm blinking my own eyes like "do the bottom ones move?"
would be interested to see how you structure the code since it will be a lot of sub systems talking to each other/larger parent ones
also if the motion becomes functions callable as agents for an LLM if it's driven that way from vision context/audio commands
lots of distributed microcontrollers set up to receive simple position instructions from some master controller. I will likely try doing this wirelessly. Hannahs brain can be a desktop computer nearby, without having to be inside her. I imagine a large variety of movement behaviours, poses, actions and blends of actions to be situationally addressed by an LLM that chooses which motions are the most appropriate at any given moment. In a rudimentary way, an example I can think of would be the Bing chatbot. It uses a lot of emoticons, and it does so fairly naturally in appropriate situations. Those emoticons can be translated into a variety of motions or poses. A bit of sensor awareness in the robot can further modify the way the emoticons are inflected, taking into account people in the environment and other things as well.
That's what i'm thinking at the moment, but it will be a bit of time before I can get around to doing it.
@@DaveMakes I'm thinking websocket and JSON for real time transfer/shape of payload. But I would think you'd have to have some kind of computer onboard to do that talking to remote/maintaining state until remote command is given. eventually you'll get to SLAM from the eyes/IMU(s) inside and pressure feedback, etc... man crazy project, throw in self charging
She looks way better than anything from Hanson robotics
Have you considered having a pocket in the eyelid material that the printed piece would slot inside?
The eyelid itself looks to need a fold in it, to be able to stretch down further, and to move up without moving the eyebrow section.
it's tricky. If the silicone is too thin, it can rip. Also, very few things stick easily to silicone.
alita battle angel will finally be real
deixei o meu like 👍
12:17 I really liked the velcro idea. I saw another youtuber use magnets on top the skin and it was looking ugly AF. Add more velcro!
I'm pretty happy with it right now. I had real worries about the thickness going into it. Turned out ok though. Could be better, and I hope I can improve it even more, but it worked out well.
you could do the same with a flexible cable. giving you more room for other components in the future. the motor would just need to be reoriented. a tensioning system integrated into the silicone of the eyelid ? maybe som nylon line or some banding that you can access from inside of the head when the face is on. just enough to eliminate the game between the lids and the eye?'
I've got some PTFE tubes and nylon line in the mail recently. I'll be experimenting with them soon.
@DaveMakes this is really cool what you are doing btw.
@@ModdedGarage building an animatronic robot to interact with AI.
@DaveMakes no I got it. Just saying the robot is neat
@@ModdedGarage I misread your comment as two separate sentences for some reason.
this is really cool. what are you doing btw.
I may have been awake for too long.
Bros building a goon unit from the year 2095. Youl be able to rent them just like the lime scooters..
1. The interface between the upper eye lid and the rest of the skin is too thick.
2. You proubably need to use hooks/dovels/slots to hold skin. Imagine, you're holding a ball in your hand. Now imagine the fingers curved outwards instead of inwards. Now put those fingers on the outside rim of the eye. With corresponding slots in the skin, you would be able to clip the surrounding skin in place. The circumference of the skin rim should be just a bit smaller than the actual eye rim, so that it would be stretched a bit and would hold itself in place firmly. Best materials would probably be metal wires for hooks, and stiffer (and strudier) silicone for slots. The wires are heat-inserted/melted into the plastic base (i.e. non-hook end is bent into circle/spiral/grill), the slots glued into the matching cavities in the skin (slots can be plain cylinders/cones/half-spheres on the surface, that is glued to skin).
Another point of contention for me is how you all are making the skin.
Why uniform silicone? It's fragile at desired thickness.
Have you tried compositing? In the forming base, spray a thin layer of silicone, let it cure partially, spray another layer, repeat to about 2/3 or 1/2 of the desired thickness. Now on the partially cured skin, put composite materials that can be soaked with silicone, f.e. use patches of fabric or teflon tape there you need large surfaces resistant to tear and shear (cheeks, forehead etc.), cotton thread where you need structural strength (eye rim, mouth, outer rim etc.). Then spray next layers of silicon. Repeat for whatever layers count needed.
This way proubably would be able to make much thinner but sturdier skin, with varying properties in different areas where needed: thin skin for oftenly deforming areas (eye lids f.e.), thicker and sturdier areas with incorporated interfaces/slots where an interface with a motor/anchor is needed etc.
I don't really have a set up for doing that kind of work with silicone. To work it through a spray system of some kind would mean a lot of solvents to get the silicone to flow, and also to clean the spray tool afterwards. I'm working out of my living room here, I don't have a shop with good ventilation.
Completely agree that layering different kinds of silicone could create very nice results.
Wow
why does this make me feel fear
uncanny valley
it's pretty well documented that things that look really close to human but clearly aren't
that causes a fear reaction
@NonJohns imagine if clone got ahold of this project with their pneumatic synthetic muscles
She feels only hunger - for human flesh!
If the women don't find you handsome, they should at least find you handy. --Red Green remember that quote? Hilarious what a great Canadian.
Would you consider selling your STL and design notes? I’m collecting a ton of data to build a 1:1 scale humanoid robot. Your work is excellent and I want to incorporate it into my own.
well this whole thing is far from a finished design. I think that at some point I would like to be able to sell it, if possible. That could be a long time in the future though.
It's largely a learning project for me.
Is there any particular reason for using separate motors/servos for each eye and eyelids? Wouldn't one motor for each be more efficient, plus less weight in the head, and also less coding overall?
i'm using two motors for the eyes X axis to allow for convergence. So when she is tracking faces with her camera later on she will be able to adjust the distance of her pupils accurately. Pupils are parallel when looking into the distance and look inwards when focusing on near targets. The Y axis has only one motor shared between both eyes.
Each eye lid has its own motor for similar reasons. Ideally I would have 4 separate motors for each eyelid (upper and lower, left and right). For added control over facial expressions.
Can i ask you your scope? what do you want to archive? like a full android that can move, just a doll that can do some realistic movements? or you just do what you feel and see where it gets you? Keep the good work Mate
It's more of a bottom up kind of project, rather than top down.
Is it possible to install cameras in eyes?
That would be mega cool and I think you would be the first to do it
I will try to.
cool
We all know what this is going to be used for.
can i ask for your opinion? i make on my channel robotics related tutorials to show my progression and as resume for job application and mostly i make projects
explanation in text instead of talking because it seems more clear and simple. but i wonder if that is a good idea?
I think seeing something working does a lot of good things for you. It looks like you're working on a geared actuator?
Not sure about what would make for a good resume, honestly. Clarity, brevity, that sort of thing.
@@DaveMakes ok thanks for the reply
oh yea funny i was trying to comment on a other channel but i think yt glitches again were it loads a former video comment section so my comment ended up here.
Discord server link expired, new link please!
fixed! I didn't realize they had an expiry date.
lol. He gave it removable teeth.
🥰👏👏
Detroit become human here we come
so what is she supposed to be when she's done? just an animatronic?
Well I will be putting some AI inside to allow for dynamic interactions. Certainly to have conversations with her, which I've experimented with already. I'll be working soon on some robot arms for her. I don't know how well this will go, but there may be some ability to interact that way too.
😍-🐸
im scared
VERY COOL HEAD SIR -- i love to see yoru progress with your GF
WoW! que locura. muito legal. desejo sucesso
Looks uncanny................
But who knows..... Maybe a couple iterations later and we'll have fuckin _ALITA BATTLE ANGEL_ 👍
Anyway Next do Abraham Lincoln
I was just watching a bit of a history of disney animatronics video here on youtube yesterday.
In real life humans have a lot of fat around their eyeballs, so eyelids and skin around them is supported by that layer. Maybe this could help you with holding skin?
9:19 my bros face when I ask if he's feeling the za
Been away from the channel for a while, seems like her face lost some of the cuteness 😭
someone else was saying she looked lobotomized. Yeah, she needs to open those eyes up!
@DaveMakes Exactly!! ❤️
Have you read or listened to Isaac Asimov's "I,Robot"? I think you might enjoy the story.
I'm a fan.
william afton
she looks like she got lobotomized nevertheless great job, I don't regret subscribing
Yeah, she's not in her best state. Hopefully she'll have more energy soon when the mag-sensors arrive.
Are you going to make her walk at some point?
No plans to right now. Balancing on two legs is tricky, and expensive to experiment with.
repent
Logo logo eu vou poder ver androides nas ruas, é uma pena que meu país está em crise para poder financiar este projeto
Alternate title : improved version of sx toy with inbuilt ai