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Eva is a robotic face designed to realistically replicate human facial expressions and movements. Eva has 14 facial skin muscles, 6 neck muscles, and 5 eyeball and eyelid muscles. Eva will be used as a platform for further research into AI for Human-Computer interfacing. In particular, she will help explore the possibility of emotional intelligence in machines. She is actuated by 25 MG90S servo motors and controlled by a Raspberry Pi 3.
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cost
Eva was designed to be manufactured for around $900 with access to standard tools, a laser cutter, and a desktop 3D printer. The current prototype was printed on an Ultimaker 2+ Extended but any desktop 3D printer can be used as long as it has a build height of at least 11 inches.
Bill of materials
1 x CanaKit Raspberry Pi 3 Complete Starter Kit ($69.99)
2 x Servo Hat for Raspberry Pi ($17.50)
1 x Adafruit GPIO Stacking Header ($6.30)
1 x Adafruit 3x4 Right Angle Male Headers ($6.41)
2 x Brass M2.5 Standoffs, Pack of 2 ($1.50)
25 x MG90S Servo Motor (<$154.00)
1 x 5V 10A Switching Power Supply ($25)
1 x Noctua Cooling Fan ($14.99)
1 x Leadsound Mini Speakers ($17.89)
1 x 3.5mm Male to Female Audio Extension Cable ($7.99)
1 x Smooth-On Ecoflex 00-30 ($36.97)
1 x Smooth-On Silc-Pig Silicone Pigment ($29.97)
1 x Smooth-On Universal Mold Release ($14.99)
1 x Green Eyes ($40)
1 x Ardell Deluxe Pack Lash, 120 ($7.30)
1 x Blink Black Eyebrow Extension ($14.39)
1 x Soft Flex .019'' Beading Wire ($10.71)
1 x 25ft Teflon Tubing ($25)
3 x Compression Spring ($9.57)
3 x Rubber Bumper ($16.26)
1 x Great Planes Pro Thread Locking Compound ($5.84)
2 x Servo Linkage Stoppers, Pack of 10 ($17.40)
12 x Steel Ball Joint Rod End ($69.72)
1 x M2 Ball Joints, Pack of 20 ($11.99)
2 x .25'' Steel Ball Bearing ($12)
1 x 2-56 Heat-set Inserts, Pack of 100 ($9.67)
1 x 4-40 Heat-set Inserts, Pack of 100 ($10.31)
1 x M2.5 Heat Set Inserts, Pack of 100 ($10.31)
1 x 1-64 Screws, Pack of 50 ($9.96)
2 x 2-56 Shoulder Screw ($8.48)
1 x 2-56 x .25'' Screws, Pack of 100 ($2.64)
1 x 4-40 x .5'' Screws, Pack of 100 ($1.75)
1 x M2.5, 14mm Long Screws, Pack of 100 ($3.84)
1 x 5-40 x .75'' Flat Head Screws, Pack of 25 ($2.75)
1 x 8-32 x .75'' Screws, Pack of 100 ($4.10)
1 x 1-64 Hex Nut, Pack of 100 ($8.10)
1 x 2-56 Locknuts, Pack of 5 ($12.33)
1 x 5-40 Locknuts, Pack of 100 ($2.76)
1 x 1/4''-20 Lock Nuts, Pack of 100 ($3.56)
5 x M2 Fully Threaded Rod ($19)
1 x Steel 6-32 Threaded Studs, Pack of 10 ($2.38)
1 x Aluminum 1/4''-20 Threaded Studs, Pack of 10 ($12.29)
Approximately 2.25 kg of 3D printing material - ABS or PLA (~$120)
* May be able to reduce quoted costs by purchasing from other vendors
2 x Servo Hat for Raspberry Pi ($17.50)
1 x Adafruit GPIO Stacking Header ($6.30)
1 x Adafruit 3x4 Right Angle Male Headers ($6.41)
2 x Brass M2.5 Standoffs, Pack of 2 ($1.50)
25 x MG90S Servo Motor (<$154.00)
1 x 5V 10A Switching Power Supply ($25)
1 x Noctua Cooling Fan ($14.99)
1 x Leadsound Mini Speakers ($17.89)
1 x 3.5mm Male to Female Audio Extension Cable ($7.99)
1 x Smooth-On Ecoflex 00-30 ($36.97)
1 x Smooth-On Silc-Pig Silicone Pigment ($29.97)
1 x Smooth-On Universal Mold Release ($14.99)
1 x Green Eyes ($40)
1 x Ardell Deluxe Pack Lash, 120 ($7.30)
1 x Blink Black Eyebrow Extension ($14.39)
1 x Soft Flex .019'' Beading Wire ($10.71)
1 x 25ft Teflon Tubing ($25)
3 x Compression Spring ($9.57)
3 x Rubber Bumper ($16.26)
1 x Great Planes Pro Thread Locking Compound ($5.84)
2 x Servo Linkage Stoppers, Pack of 10 ($17.40)
12 x Steel Ball Joint Rod End ($69.72)
1 x M2 Ball Joints, Pack of 20 ($11.99)
2 x .25'' Steel Ball Bearing ($12)
1 x 2-56 Heat-set Inserts, Pack of 100 ($9.67)
1 x 4-40 Heat-set Inserts, Pack of 100 ($10.31)
1 x M2.5 Heat Set Inserts, Pack of 100 ($10.31)
1 x 1-64 Screws, Pack of 50 ($9.96)
2 x 2-56 Shoulder Screw ($8.48)
1 x 2-56 x .25'' Screws, Pack of 100 ($2.64)
1 x 4-40 x .5'' Screws, Pack of 100 ($1.75)
1 x M2.5, 14mm Long Screws, Pack of 100 ($3.84)
1 x 5-40 x .75'' Flat Head Screws, Pack of 25 ($2.75)
1 x 8-32 x .75'' Screws, Pack of 100 ($4.10)
1 x 1-64 Hex Nut, Pack of 100 ($8.10)
1 x 2-56 Locknuts, Pack of 5 ($12.33)
1 x 5-40 Locknuts, Pack of 100 ($2.76)
1 x 1/4''-20 Lock Nuts, Pack of 100 ($3.56)
5 x M2 Fully Threaded Rod ($19)
1 x Steel 6-32 Threaded Studs, Pack of 10 ($2.38)
1 x Aluminum 1/4''-20 Threaded Studs, Pack of 10 ($12.29)
Approximately 2.25 kg of 3D printing material - ABS or PLA (~$120)
* May be able to reduce quoted costs by purchasing from other vendors
CAD files
Access CAD files through GrabCAD Partner Space
For permission to upload files to the Partner Space, email zf2143@columbia.edu
For permission to upload files to the Partner Space, email zf2143@columbia.edu
Assembly process
Project participants |
Zanwar Faraj, Mert Selamet, Carlos Morales, Patricio Torres, Maimuna Hossain, Hod Lipson
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Related Publications |
TBD
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