Creative Machines Lab - Columbia University
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  • Home
  • About
  • People
  • Research
    • Crystallography
    • Fingerprints
    • Hidden Variables
    • Visual Self Modeling
    • Label Representations
    • Robot Visual Behavior Modeling
    • Particle Robotics
    • Deep Self Modeling
    • Evolutionary Self Modeling
    • Self Replication
    • Laser Cooking
    • Digital Food
    • Soft Actuator
    • Layered Assembly
    • Cellular Machines
    • Inverted Laser Sintering
    • Eureqa
    • Golem
    • Data Smashing
    • Jamming Gripper
    • Soft Robot Evolution
    • Truss Reconfiguration
    • Fluidic Assembly
    • Ornithopters
    • Tensegrity
  • Papers
    • Selected Papers
    • All Papers
  • Videos
  • Talks
  • Open Source
    • Titan Library
    • Fab@Home
    • FreeLoader
    • VoxCad
    • Spyndra
    • PARA
    • Aracna Robot
    • Cuneiforms
    • Eva
    • AMF
  • Join Us
  • Internal
    • Wiki
    • Email list
  • Contact
Creative Machines Lab - Columbia University

Eva

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.

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

CAD files 

Access CAD files through GrabCAD Partner Space
​
For permission to upload files to the Partner Space, email [email protected]

Assembly process


Project participants

Zanwar Faraj, Mert Selamet, Carlos Morales, Patricio Torres, Maimuna Hossain, Hod Lipson

Related Publications

TBD
Picture