通过对人类实现不同面部表情时脸部肌肉运动情况的分析，设计仿人面部表情机器人的运动机构和控制系统.在仿真环境下，对所设计的虚拟样机进行运动分析，以所得到的数据为依据，研制仿人面部表情机器人样机SHFR-1.在SHFR-1机器人上进行面部表情演示实验，结果表明,该样机可以较好地实现高兴、悲伤、惊讶、害怕、愤怒和厌恶等6种人类基本表情.

By analyzing the facial expression and motion of facial muscles, the mechanism and control systems of a facial robot are designed. The mechanism and motion of the corresponding virtual prototype are analyzed. A facial robot SHFR-1 is developed based on the results of the analysis. Experimental results of facial expressions show that SHFR-1 can express six basic expressions: happiness, sadness, surprise, fear, anger and disgust.