
expressions and gaze following. So I started
building a system to “embody” the vocal tract.
With the advent of 3D printing, I was inspired
by the InMoov robot (inmoov.fr); like many
people, the InMoov hand was the project that
convinced me to buy my first 3D printer. But I
quickly realized that the hand motors were placed
in the forearms, making them so heavy that
gearing was needed to move the arms. They were
clunky and slow; I had already made lightweight
robot arms that moved much faster and more
smoothly. And because the InMoov head didn’t
have space for my mechanical vocal tract, I
eventually found I needed to design my own 3D
printed