InMoov Custom Mobile App

It’s been a while since posting about the InMoov robot hand I started building last year. Previously I had everything assembled and was using some direct controls in Grasshopper (plugin for Rhino) to test and tweak the movements of the fingers and wrist (click here to see the last video). That was fun, but not as fun as being able to control the fingers wirelessly from across the room!

Using MIT App Inventor, I’ve created a very basic mobile app that now allows the fingers and wrist to be controlled on my phone using a Bluetooth connection to the Arduino board. It’s nothing fancy right now, just some simple sliders that control the servos, but now that the basics are working some more automated movements could be set up eg. by using the built-in sensors of the phone, movements could be controlled by simply tilting the phone.

20161203_InMoov Display

In order to display the working InMoov hand at the CreateWorld Conference last year, I  also built a display box from plywood since the arm is not really attached to anything and there are a lot of electronics dangling around that are a bit too messy for display. It actually makes moving the hand around and working on it quite a bit easier now since it’s raised up as well. If I had files for this case I would share them, but I went old-school for this one and just created it freehand with a jigsaw – I’m not completely reliant on digital manufacturing (yet!). Inside the box on the right are all the messy electronics, and a hole for the Arduino USB cable to reach through to connect to computer when needed.

I’ve also 3D printed a stamp with my name and the edditive logo to “tag” this project. Using 3D printing to make custom stamps is something I wrote about in one of my first ever blog posts, click here to take a trip back in time. It’s always the little details that bring a project to life for me.

– Posted by James Novak


Robot Picasso Kickstarter Final Week!

The final week of my very first Kickstarter campaign is now here, and to celebrate I’ve put together a brand new video demonstration of what Robot Picasso can do. This time, rather than using the Solidoodle 3D printer to draw on paper as in the first video, this demonstration shows how you can collaborate with Robot Picasso and use the digital DXF file of your custom artwork to import into software like Adobe Illustrator. From there anything’s possible, including using the design to laser cut into any material!


It’s been an exciting roller coaster so far, and the hard work is yet to begin making and shipping all the artworks. It’s been challenging being overseas for nearly 2 weeks on a pre-booked holiday – I haven’t been able to spend as much time as I wanted promoting and creating regular updates for the campaign. However it was also quite eye-opening to realise just how much can be done with a laptop and internet connection – the video demonstration was completely created from my hotel in Hawaii, giving you an idea of how versatile Robot Picasso really is. You can receive your own custom DXF file for just $15 AUD, and have it included in the eBook compilation which all backers receive. Great if you are digital savvy and have access to some cool toys like plotters, laser cutters, routers etc.

Please help me to share this campaign on social media, it would be awesome to reach 50 backers over this final week (currently at 32) and increase the amount of artwork in the eBook. If you’re not into getting a custom drawing, you can buy the eBook for just $8 AUD and have it emailed to you after all drawings have been produced. See if you can figure out what each drawing is!

– Posted by James Novak

InMoov Comes to Life

Look! It’s moving. It’s alive. It’s alive… It’s alive, it’s moving, it’s alive, it’s alive, it’s alive, it’s alive, IT’S ALIVE! – Frankenstein.

Yes finally the InMoov robot arm I’ve been slowly printing and assembling is complete and functioning with only the occasional little hiccup. I thought I was really close in my last post where I had assembled all the 3D prints and electronics, but it is definitely the last 10% that takes the most work.

Tensioning the braided lines just right and tying them to the servo’s is a painstaking task, especially in the heatwave we’ve been having in Australia, where you’re trying to resist the urge to wipe sweat from your face while you tie the knot just right… I felt a bit like a surgeon out in a humid jungle performing emergency surgery. A few little broken bits along the way as well from prints splitting or glue not holding, so it’s a relief to finally iron out all the kinks and start playing with the controls.

As you’ll see in the video, I’m using Grasshopper (plugin for Rhino) with the addition of Firefly to control the hand movements at the moment – if you’ve followed my blog for a while you’ve seen multiple demo’s of this software and why I think it’s so good, so I won’t bore you here (if you’re interested check out my project which was displayed at Design Philadelphia 2015). But it basically means I can manually adjust the servo’s in real-time using a simple slider for each finger, or connect fingers to the one slider to control them all at once and create a fist for example. It really makes those final tweaks to the servos easy.

I hope you enjoy seeing this arm come to life – it’s quite inspiring when you see it in real life, especially if you’re familiar with 3D printing and the time it takes just to print all of these parts. Now I can finally start modifying this project and experimenting with the controls, the build is only just the beginning for this robot.

– Posted by James Novak

InMoov No Longer InPieces


Over the past couple of months my build of the InMoov robotic arm has continued to progress slowly in the background, until now I find myself near the end. So about time for a little update on the build since my last post where I only had the arm and wrist pieces printed and partially assembled.

Now that the hand and fingers are assembled this is really starting to look cool, with a good range of movement and nice details controlling these movements. Let me say (if I haven’t before) that this is really not a project for the feint of heart – sure you might get lucky and be able to 3D print all of the parts without a hitch (although if you 3D print as much as me you know that for all of these successful prints assembled into the hand, there are many more failures!), but much of the challenge is in having the tools and patience to assemble them together properly. Each joint has needed filing, drilling of holes, gluing, even some acetone to clean up some of the rough surfaces to save reprinting, and of course these processes have been repeated numerous times. But that’s what I love about a project like this, you get to understand how every piece works.


Threading the Spectra braided line (I found a roll of 180lb 0.7mm Spectra quite cheap on Ebay) again requires the patience of a surgeon and a nice pointy set of tweezers, but I’m really loving how I can already start manually controlling the fingers by pulling on the lines. When doing this I found that some of the fingers were stiff and required a lot of force to move, so again you need to be prepared to take things apart and file them down before gluing anything into place, or the servo’s just won’t cope. I’ve found a little bit of lithium grease to be useful to help prevent binding of a few of the joints, but most of them are working quite smoothly without, pinned together with 3mm filament as suggested in the build instructions (so simple if you have access to some of the larger diameter stuff).

Next step is to connect the Spectra lines to the servo’s, which I’ll admit I’ve been nervous about since getting this right is critical, and then it should be up and running! I’ve bought an adjustable power supply to give the servo’s the power they need, seems like they can draw a lot of current when they move, far more than the Arduino/computer can give, so hopefully my next post will have a video of it moving 😀

– Posted by James Novak

InMoov First Twitches of Life

20160820_InMoov Arm Servo

The 6 servo’s needed to build the InMoov robotic arm/hand arrived since my previous InMoov post, and are now installed and working individually. All up they cost about $35AUD on Ebay. The Meshmixer hack for the stands I discussed in the last post also worked quite well, and luckily no other stands to mount the servo’s have needed re-printing – just a few spots of super glue to prevent any minor splitting between the printed layers. This means that most of the assembly of the arm and wrist is now complete, other than running all the lines to control the fingers (a big job I’m not looking forward to). Below is a video of the wrist movement using a MG 996 servo – sounds like it means business!


Nothing particularly exciting just yet, although it’s nice to see the InMoov showing the first signs of life (Frankenstein anyone?). As you can see I’ve connected this servo to an Arduino Uno, and am manually controlling the movements using Grasshopper and Firefly, both plugins for Rhino 3D CAD software. I’m not sure if any other InMoov makers have done this, but if you’ve followed my blog for a while you’ve probably seen previous demonstrations of how you can use what is essentially a 3D CAD program to control the Arduino in real-time, something I’m very excited about. I certainly aim to continue using this visual programming language (VPL) to interact with the arm, perhaps making it more intuitive and interactive to control. Next step: 3D printing the fingers.

– Posted by James Novak

InMoov Robot Hand First Prints

20160812_InMoov 3D Prints

If you’re already following my Instagram you’ve had a sneak peek at one of my side projects – to build the arm/hand for the InMoov robot. No small project! InMoov is the world’s first open-source 3D printable life-size robot, and you can find some excellent instructions and all the files on the InMoov website, a fantastic credit to Gael Langevin the creator of this robot.

Above you can see the first 3D prints I’ve completed for the arm, all printable even on the small print bed of the UP Plus 2. Some of the prints are also done on my Cocoon Create. At a guess it’s taken about 25-30 hours of print time to get the parts shown above, and there are still plenty more to go, so this isn’t a project for the feint of heart. But it is a great challenge that combines 3D printing with electronics and some understanding of mechanics, like an advanced version of Lego.

20160814 InMoov Details

There are other similar open-source projects out there, such as Open Bionics or e-NABLE, but I chose the InMoov because the instructions seem really clear and detailed (very important for a build like this!), and there is a good level of complexity in the movements of the hand. Check out this video to see some of the movements. Hopefully once I get the hand up and running I can have a play around with the design and the method of controlling the hand, but for now it’s just about getting the hand built and working. Keep an eye out for the progress, hopefully with some of the electronics installed once the servo’s arrive from China.

– Posted by James Novak

Inside 3D Printing Sydney Review

20160511_Inside 3D Printing Syd 1

As my brain still tries to process everything from the 2016 Inside 3D Printing Conference Sydney, I thought a bit of a review might be a good way to try and both sort out my thoughts, and share with you some of the things on show and discussed throughout the 2 day conference. This conference was shared with National Manufacturing Week, which actually makes up the bulk of the exhibitor stands in the image above – 3D printing only filled up the very right thoroughfare from the Fuji Xerox sign to the back (yes there’s a bit of a disappointed tone in my voice here).

20160512_Inside 3D Printing Syd 2

Above you can see the size of the 3D printing conference itself – which I have to admit was a real shock to see when I walked in on day 1 expecting at least 100 people or more. Having been to RAPID last year in Los Angeles (you can read about my experience here) I guess I just expected a lot more interest in 3D printing by now in Australia! Our slow uptake despite having a significant share of the worlds titanium, which could be used right here for 3D printing, was certainly a common theme for discussion from many speakers, as were the trends and predictions for continued worldwide growth after the latest Wohlers Report for 2016. But well done to all the Queenslanders who made the trip down, I couldn’t believe how often I would speak to someone only to find out they were from my part of the world! Perhaps Inside 3D Printing should look at running in Brisbane next time?

The good news is there were some really great speakers, one of my favourites being from keynote Paul D’Urso about his pioneering use of 3D printing in surgery over the last 20 years. What I liked most was his candid insight into the tensions between what surgeons and their patients want (for example custom-fitting implants that heal quickly and are comfortable, custom tools and guides for surgeons to provide more accurate surgery, and 3D prints from CT scans for pre-surgical analysis and practice which saves time in the operating theater) as opposed to regulatory bodies like the FDA in the United States who are getting in the way of innovations like 3D printing and basically enabling large corporations to own the monopoly on expensive standardised medical equipment. He has a great proactive attitude of just getting in and improving implants and tools himself using 3D printing, and has founded Anatomics as a way to reach out to other surgeons with the tools and products he and his team have developed. A great “just do it” message which was really motivating.

Education was also a big theme, with speakers like Ben Roberts from Modfab and Stuart Grover from 3D Printing Studios sharing their experiences around educating children and the general public about 3D printing through various training programs and initiatives here in Australia. However it seems that there is still far too little being done to educate people about 3D printing, and indeed many other emerging technologies, and perhaps the low attendance at this conference is evidence of how far we have yet to go when compared with the same Inside 3D Printing conferences around the world which seem to generate very high numbers of attendance. A re-work of high school curriculum’s was a well received solution at the conference, with traditional wood-work and metal-work style classes needing to be reinvigorated with digital technologies to provide appropriate high-value skills to students due to the rapidly changing nature of jobs, with reports suggesting that by the year 2020 5 million jobs will be made redundant due to robotics and automation. One of the hurdles argued by Ben Roberts was that most teachers either don’t have the skills to teach CAD and 3D printing, or learned them 5 or more years ago and are now outdated. As someone very keen to help enable the next generation of designers through my regular training programs and visits to schools, along with being a part of the Advance Queensland scheme, I think this is an extremely important issue to tackle right now. Anyway, on to some of the fun things.

20160512_Inside 3D Printing Syd 3

Just like with RAPID, perhaps my favourite part of these conferences is the exhibition space – you never know what you’re going to see! Above on the left is the 3D printed jet engine from Monash University, Deakin University and Lab 22 (part of the CSIRO) which you may have seen in the media already. A lot of complexity with multiple 3D printing methods and materials used for the various parts, I just wish it was a working model! In the middle is a full-colour 3D printed hand, almost exactly the same size as mine. What’s unique about this print is that not only was it printed in 1 go, but that the outer “skin” material is soft and squishy like skin! This is a brand new printer from Fuji Xerox capable of printing with 5 material cartridges at once, and there is huge potential for this to create simulation models for training surgeons, or realistic copies of organs or tumors for surgeons to actually practice on prior to cutting open their patient. Lastly was a highly detailed SLS print of feathers as a fabric-like material at the 3D Printing Systems stand – just something a little more unusual compared to all the usual prints everyone normally displays.

20160512_National Manufacturing Week

Lastly just a few things that caught my eye throughout the other exhibits – on the left is one of the robotics displays for automating tasks like pick ‘n’ place – I think I could have a lot of fun with one of these next to my desk! In the middle was perhaps the most interesting display from my own research perspective, with CAD company PTC Creo beginning to enable Internet of Things devices to integrate into their software through the ThingWorx platform. Very much in line with my experiments using Rhino with the Grasshopper and Firefly plugins, however the addition of augmented reality is a really great touch – if you want to see a demo of their full system in action, check out their short 3 minute demo video of the bike being used in both the physical and virtual world. Lastly there were a few companies showing their CNC routers and laser cutters, some of them desktop in size – I just wish I could line them all up next to my 3D printer at home!

Overall a lot to soak up and plenty of new networks created with other attendees, I just hope next year there is an even bigger audience at the conference and even more amazing things happening.

– Posted by James Novak