Humanoid Robot Head Design Based on Uncanny Valley and FACS

Table 1

Relationship between AU and Expression.

Facial expression	Action unit
Happiness	AU6 + AU12
Disgust	AU9 + AU10
Sadness	AU1 + AU15
Anger	AU4 + AU5 + AU24
Contempt	AU10 + AU15 + AU17
Surprise	AU1 + AU2 + AU5 + AU25 + AU26
Fear	AU10 + AU2 + AU4 + AU5 + AU7 + AU20