200810818 » t 九、發明說明： 【發明所屬之技彳标領域】 特別是關於一種可於 驅動裝置。 本發明係關於一種臉部表情驅動裝置， 一臉上呈現各式各樣的臉部表情之臉部表情 【先前技術】 隨著科技的發展與進步，人形電子罗 d—之應用也愈來愈普及。隨之200810818 » t IX. Description of the invention: [Technical target area of the invention] In particular, it relates to a driveable device. The invention relates to a facial expression driving device, and a face expression with various facial expressions on one face. [Previous technology] With the development and advancement of technology, the application of humanoid electronic electronic d- is becoming more and more popular. Followed by
f種用糊_嶋之機構料被λ如 6,352,464號、美國專利公開第2〇〇4〇 ^ ^ ί.’ΞίΐίϊΓ孩叙目的，於Μ造組裝時， 且成本亦較咼。此外，關於美國專利公主 2()()4()24951()號’其機“計不僅較為ΐ 雜’臉部表情也較為呆板。 *又Τ个惶竿乂马複 以解述3明之主要範疇在於提供-種臉部表情驅動裝置， 【發明内容】 本發明之一範疇在於提供一種臉部表情驅動裝置，該臉部表 十月驅，裝置僅藉由至少一彈性構件以及至少一致動器，即可於一 臉上呈現各式各樣的臉部表情。不僅機構設計簡單，且亦可降低 成本。 η根據一較佳具體實施例，本發明之臉部表情(pacial expressi〇n) 焉區動裝置包含至少一彈性構件(Resilient member)以及至少一致動 器（Actuator)。彈性構件係作為一臉上之一臉部部位(Fadal 6 200810818 一山，此根據本發明之臉部表情驅動裝置，由於彈性構件之第 目定住，#絲毅轉性構叙第—端轉動 情。不僅機構設計鮮，且亦可降低成本。 樣驗絲 下的發明詳述及所附圖 關於本發明之優點與精神可以藉由以 式得到進一步的瞭解。 【實施方式】 本發明之臉部表情(Facial expression)驅動裝置係用以致 臉上之臉部部位(pacial feature)(如眉毛、眼睛、嘴巴等以 各式各樣的臉部表情。請參閱圖一，圖一係繪示一人脍 (Human-Hke face)1之示意圖。如圖一所示，人形臉丨上眉^ (Eyebr〇W)10a、10b、眼睛(Eye)施、勘、嘴巴(M〇mh)3〇 以及 皮40。為達到上述有關本發明之範疇，所採用之技術手段 及其餘功效，茲舉數個較佳具體實施例加以說明如下： 第一較佳具體實施例： 第一較佳具體實施例係說明本發明之臉部表情驅動裝置用 於致動人形臉1上之眉毛l〇a、1〇b之作用原理。由於致^眉毛 10a以及勘之作用原理相同，以下乃以致動眉毛收為例^明 200810818 -ϊ(ί --- Ϊ ： ilT)122 enclosure)124 〇 f 124侧以包覆第—彈性構件12Q，以呈現人形臉工 臉部部位i亦即眉毛施。第—彈性構件120具有一 120之笛-1以及—第二端聰。如圖三所*，第—彈性構件 ΓΓίί，12Gb係被可轉動地固定於人形臉1之表皮= Ϊ1’致使第一臉部部位(眉毛陶可於人形臉1上呈現各 1各樣 Ϊ1ΪΓ舉例而言，如圖二所示，若第一致動器ϋίί ^冓件12G之第—端咖往箭頭al的方向猶，則= 车，〇曰h ;人形臉1上呈現如圖四所示之臉部表情(拱形）。同理，眉 毛勘亦可於人形臉！上呈現如圖四所示之臉部表情(棋^)。眉 於_^之第-實施例中’第一彈性構件12 =^或其他類似元件，且第—致―122包含1達& (未顯不）’以致動第一彈性構件12〇之第一端i2〇a。 ) ⑽於ί述之第—實施射，人形臉1之表皮4G可為一彈性表 ’且第一彈性構件120與彈性表皮40相連接， 生表皮40會與第一彈性構件12〇 —起被第 致動，進而呈現更活潑生動之臉部表情。 y主!!另—較佳具體實施射’第—雜構件12G亦可直接連姓 =^^背面，而不須第一彈性套丨24,即可呈現如 8 200810818 零 » ' 第二較佳具體實施例： 臉部置據本發明第二較佳具體實 含-第哭2 ^ 處在於臉部表情驅動裝置12a，另包 上之。=轉動‘ 於上述之第二實施例中，第二致動器i2 不）’以致動第-彈性構件120之第二端咖。匕3 *達(未顯 第三較佳具體實施例： 第二較佳具體實施例係說明本發明 ，主^ ^ 於致動人形臉！上之眼睛施、20b之作^表^^置用 • &。如圖-所不’眼睛2〇a包含—上眼瞼綱 請參閱圖一、圖六以及圖七，圖丄 _ 佳具體實施例之臉部表情驅練置‘ 據三較 實施例中，臉部表情驅動裝置22a包圖。於此 第-致動器222、-第—彈性套224、m:20、— 覆第一彈性構件挪，以呈現人形臉丨係用以包 彈性構件226 ’以呈現人形二$套以包覆第二 弟一臉部部位，亦即眼睛 9 200810818 之上眼驗202。第-彈性構件22〇具有一第—端2施以及一 ^二端220b，並且第二彈性構件226具有一第226&以及一 第四端226b。 1六所示，第一彈性構件22〇之第一端2咖係可轉動地 區^於第-致動器222，且第-彈性構件22G之第二端2施係被 動地固定於人形臉丨之表皮4〇内。第二彈性構件226之第 二端D6a係可轉動地樞接於第三致動器228，且第二彈性構件 U6之第四端226b係被可轉動地固定於人形臉丨之表皮4〇内。 第-致動，222係用以致動第一彈性構件22〇之第一端2遍轉 動，並且第二致動器228係用以致動第二彈性構件226之第三端 226a轉動，致使第一臉部部位(眼睛2〇a之上眼驗2⑻)以及第二 臉部部位(眼睛20a之下眼驗202)可於人形臉2上呈現各式各樣^ 臉部表情。舉例而言，如圖六所示，若第一致動器222致動第一 =構件22G之第-端220a往箭頭a2的方向躺，且第三致動 ^ 228致動第二彈性構件226之第三端2施往箭頭^的方向轉 動，則眼睛jOa之上眼瞼200以及下眼瞼2〇2會於人形臉丨上呈 現如圖七所不之臉部表情(眼睛2〇a張開）。同理，眼睛施亦可 於人形臉1上呈現如圖七所示之臉部表情(眼睛2〇b張開）。 於上述之第三實施例中，第一彈性構件22〇以及第二彈性構 结孤可分別為一彈簧或其他類似元件，且第一致動器、拉以及 致228分別包含一馬達(未顯示），以致動第一彈性構件 220之弟一端220a以及第二彈性構件226之第三端22如。 於亡述，第二實施例中，人形臉j之表皮4〇可為一彈性表 皮，且第一彈性構件220以及第二彈性構件226分別與彈性表 接，藉此，彈性表皮40會與第一彈性構件220以及第二 =性構件226 -起被第-致動器222以及第三致動器228致動， 進而呈現更活潑生動之臉部表情。 200810818The f-type paste _ 嶋 机构 机构 机构 机构 机构 机构 λ λ λ λ λ λ λ 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, In addition, regarding the US patent princess 2 () () 4 () 24951 () 'the machine' is not only more complicated 'face expression is also more dull. * Another 惶竿乂 复 复 解 解 解 3 3 3 3 The invention provides a facial expression driving device, and an aspect of the present invention provides a facial expression driving device, which is driven by the at least one elastic member and at least an actuator. It can present a variety of facial expressions on one face. Not only is the mechanism design simple, but also the cost can be reduced. η According to a preferred embodiment, the facial expression of the present invention (pacial expressi〇n) 焉The locating device comprises at least one Resilient member and at least an actuator. The elastic member serves as a facial part of a face (Fadal 6 200810818, a facial expression driving device according to the present invention) Because the first part of the elastic member is fixed, the silky transformation of the first-end rotation is not only the design of the mechanism is fresh, but also the cost can be reduced. The detailed description of the invention under the inspection and the advantages of the invention with respect to the invention And fine God can further understand by the formula. [Embodiment] The facial expression (Facial expression) driving device of the present invention is used to cause facial features on the face (such as eyebrows, eyes, mouth, etc.) A variety of facial expressions. Please refer to Figure 1. Figure 1 shows a schematic diagram of Human-Hke face 1. As shown in Figure 1, the human face is covered with eyebrows ^ (Eyebr〇W) 10a, 10b Eye, eye, mouth, mouth (M〇mh) 3〇 and skin 40. In order to achieve the above-mentioned technical scope and other functions, the preferred embodiments are described. The following is a description of the first preferred embodiment: The first preferred embodiment illustrates the principle of the facial expression driving device of the present invention for actuating the eyebrows l〇a, 1〇b on the human face 1. ^The eyebrows 10a and the principle of action are the same, the following is to take the eyebrows as an example. ^200810818 -ϊ(ί --- Ϊ : ilT)122 enclosure) 124 〇f 124 side to cover the first elastic member 12Q, Presenting the face part i of the human face, that is, the eyebrow application. The first elastic member 12 0 has a flute-1 of 120 and a second end of the clever. As shown in Fig. 3, the first elastic member ΓΓίί, 12Gb is rotatably fixed to the epidermis of the human face 1 = Ϊ 1' to cause the first facial part ( The eyebrows can be presented on the human face 1 for example. As shown in Figure 2, if the first actuator ϋίί ^ 12G is the first end of the arrow to the direction of the arrow al, then = car , 〇曰h ; the human face 1 shows the facial expression (arched) as shown in Figure 4. In the same way, eyebrows can also be used in human faces! The facial expression (chess ^) shown in Figure 4 is presented. In the first embodiment of the invention, the first elastic member 12 = ^ or other similar elements, and the first - 122 contains 1 up & (not shown) to actuate the first elastic member 12 One end i2〇a. (10) In the first embodiment, the skin 4G of the human face 1 may be an elastic watch' and the first elastic member 120 is connected to the elastic skin 40, and the raw skin 40 is smashed with the first elastic member 12 The first act, and then present a more lively and vivid facial expression. y main!! Another - better specific implementation of the 'the first - miscellaneous member 12G can also directly connect the last name = ^ ^ back, without the first elastic sleeve 24, can be presented as 8 200810818 zero » 'second better DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS: Face Setting The second preferred embodiment of the present invention - the first crying 2 ^ lies in the facial expression driving device 12a, which is additionally packaged. = Rotating 'in the second embodiment described above, the second actuator i2 is not'" to actuate the second end of the first elastic member 120.匕3*达(The third preferred embodiment is not shown: The second preferred embodiment illustrates the invention, the main ^^ is used to actuate the human face! The eye on the eye, the 20b is used to ^^ • & As shown in the figure - does not 'eye 2〇a contains' - upper eyelids, please refer to Figure 1, Figure 6 and Figure 7, Figure _ _ _ _ _ _ _ _ _ _ _ _ _ The facial expression driving device 22a is illustrated. The first actuator 222, the first elastic sleeve 224, the m: 20, and the first elastic member are moved to present a human face to enclose the elastic member. 226 'presents a human figure two sets to cover the second part of the face, that is, the eye 9 200810818. The first elastic member 22 has a first end 2 and a second end 220b. And the second elastic member 226 has a second 226 & and a fourth end 226b. As shown in FIG. 6 , the first end 2 of the first elastic member 22 is rotatable to the first actuator 222, and - the second end 2 of the elastic member 22G is passively fixed in the skin 4 of the human face. The second end D6a of the second elastic member 226 is rotatably The fourth end 226b of the second elastic member U6 is rotatably fixed in the skin 4 of the human face. The first actuation, 222 is used to actuate the first elasticity. The first end of the member 22 is rotated 2 times, and the second actuator 228 is configured to actuate the third end 226a of the second elastic member 226 to rotate, causing the first facial portion (eye 2〇a above the eye 2 (8) And the second facial part (the eye examination 202 under the eye 20a) can present a variety of facial expressions on the human face 2. For example, as shown in Figure 6, if the first actuator 222 causes The first end of the member 22G is placed in the direction of the arrow a2, and the third actuator 228 is actuated to rotate the third end 2 of the second elastic member 226 in the direction of the arrow ^, then the eye jOa The eyelid 200 and the lower eyelid 2〇2 will present the facial expression as shown in Figure 7 on the human face (eye 2〇a open). Similarly, the eye can also appear on the human face 1 as shown in Figure 7. The face expression (eye 2〇b open). In the third embodiment described above, the first elastic member 22〇 and the second elastic structure are respectively a spring Other similar components, and the first actuator, the pull and the second 228 respectively comprise a motor (not shown) for actuating the first end 220a of the first elastic member 220 and the third end 22 of the second elastic member 226. In the second embodiment, the skin of the human face j can be an elastic skin, and the first elastic member 220 and the second elastic member 226 are respectively connected to the elastic surface, whereby the elastic skin 40 and the first elasticity are The member 220 and the second = member 226 are actuated by the first actuator 222 and the third actuator 228 to present a more lively facial expression. 200810818
I I , 第四較佳具體實施例： 二多閱圖八圖八係緣示根據本發明第 臉部表情驅動裝置22a，之干音岡略划主: 貫例之 表愔$ 圖。臉邓表^驅動裝置22a，與臉部 ，驅動裝置22a主要不同之處在於臉部 用一致動器232取代第三致動器228 致動第一彈性構件220 u芬筮-r 動-222以同時 和不㈤王傅1干⑽以及第一彈性構件226。 作用原理與圖六+之臉部表情驅動裝置22a ‘ 第五較佳具體實施例： 請參閱圖九’圖九係緣示根據本發明第 ?Γ示意圖。臉部表馳練置3=5 ίΐί動ίί 要不同之處在於臉部表情驅動裝置22a”另包 3 了弟一致動器234以及一第四致動器236。第一彈性構 f第二端通係可轉祕樞接於第二致動器234，且第二彈性 =26之第四端226b係可轉動地樞接於第四致動器236。第二致 ，器234係配合致動n 222以致動第—彈性構件22。之第二 此轉動，並且第四致動器236係配合第三致動器228以致 主苐-彈性構件226之第四端226b轉動，致使第-臉部部位(眼 目月20a之上眼瞼200)以及第二臉部部位(眼睛2〇a之下眼瞼2〇 =人形臉1上呈現各式各樣的臉部表情。圖九巾續部表情驅動 裝置22a’之作用原理與圖六中之臉部表情驅動裝 置22a相同，在 此不再贅述。 ^ 於上述之第五實施例中，第二致動器234以及第四致動器 236分別包含一馬達(未顯示），以致動第一彈性構件22〇之第二端 220b以及第二彈性構件226之第四端226b。 於上述之第五實施例中，第四致動器236與第二致動器234 亦可設計為同一致動器，視實際應用而定。 11 200810818I I , Fourth Preferred Embodiment: The second embodiment of the present invention is based on the first facial expression driving device 22a of the present invention. The main surface of the driving device 22a is different from the face and the driving device 22a in that the face is replaced with the third actuator 228 by the actuator 232 to actuate the first elastic member 220u. At the same time and not (five) Wang Fu 1 dry (10) and the first elastic member 226. The principle of action and the facial expression driving device 22a of Fig. 6 + 'Fifth preferred embodiment: Please refer to Fig. 9'. Fig. 9 is a schematic view showing the first embodiment according to the present invention. The facial expression is set to 3=5 ίΐί ίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίίί The second end 226b of the second elastic=26 is rotatably pivotally connected to the fourth actuator 236. The second actuator 234 is actuated by the second actuator 236. n 222 to actuate the second rotation of the first elastic member 22. The fourth actuator 236 is engaged with the third actuator 228 such that the fourth end 226b of the main jaw-elastic member 226 rotates, causing the first face The part (the eyelid 200 above the eye 20a) and the second face part (the eye 2睑a under the eye 2〇=the human face 1 presents a variety of facial expressions. Fig. 9 towel continuation expression driving device 22a The principle of action is the same as that of the facial expression driving device 22a in Fig. 6, and will not be described again. ^ In the fifth embodiment described above, the second actuator 234 and the fourth actuator 236 respectively comprise a motor. (not shown) to actuate the second end 220b of the first elastic member 22 and the fourth end 226b of the second elastic member 226. The fifth embodiment, the fourth actuator 236 and second actuator 234 can be designed to the same actuator, depending on the actual application. 11 200 810 818
l I ' 第六較佳具體實施例·· 閱圖十’圖十係緣示圖—中嘴巴30於人形臉1上呈現 臉。卩表6之示意圖。如圖一所示，嘴巴3〇包含一上嘴唇3〇〇以 ί致m 302。於此實施例中，本發明之臉部表情驅動裝置用 同致^形臉1上之嘴巴30之作用原理與上述之第三實施例相 再贅述。如圖十所示，#本發明之臉部表情驅動裝 門刀^致動上嘴唇300以及下嘴唇302轉動時，嘴巴30會被打 開’進而呈現各式各樣的臉部表情。 _ 第七較佳具體實施例： 請參閱圖六、圖十、圖十一以及圖十二，圖十一 $明第七較佳具體實補之臉部表情驅動裝置”之'^ <。 ，十，纷示圖十中嘴巴3G於人形臉1上呈現臉部表‘示音 ^臉部表情驅動裝置32與臉部表情驅動裝置公主要不同= 處在於臉部表情驅動裝置32進一步包含一第五致動m 二=組322以及-第二連桿組324。第一連桿組322包含一第 人以及一第一短連桿咖，並且第二連桿組324包 秦;二12連桿3,以及一第二短連桿324b。如圖十一所示， • * —連桿3瓜係藉由樞紐34Ga與第二長連桿3加樞接在- Ϊ ’ ί 一長連桿3瓜係藉由插紐進與第一短連桿322b樞接 起，並且第一長連桿32½係藉由樞紐34〇c盡第-短遠;j；曰 f bf接在令第-短連桿島以及第二短連桿 接於第五致動器320上之一轉盤3200。 如圖十-所示，第五致動器32〇係藉由第一連桿組似 -致動，222以及第三致動H 228相連接，並且藉由第二連桿組 3M與^二致動器、说以及第四致動器、说相連接，藉此，當第 五致動器、320致動轉盤3200轉動時，第一短 2 ^一 短連桿3施可分別帶動第一長連桿处以及第二長連桿 12 200810818 生相對應的打開或閉合之動作，進而調整第一彈性 第二彈性構彳226之長度，致使第二臉部部位(下嘴唇302)可盘第 -臉部部位(上嘴| 300)配合，以於人形臉丨上呈現如圖十二所示 =部表情。圖十-中之臉部表情驅動裝置32之作用原^圖 八中之臉部表情驅動裝置22a相同，在此不再贅述。 /、 一於上述之第七實施例中，第五致動器320包含一馬逵Γ去顧 不）’以致動第一連桿組322以及第二連桿組324。 "、 於上述之第七實施例中，第三致動器228與第一 =計為同—致動器，第四致動器236與第二致動器23^可設 计為同一致動器，視實際應用而定。 α 相較域前祕，_本發日狀臉縣情轉裝置，當 彈性構件之第-端轉動時，彈性構件會產生f曲，進而^ 樣的臉部表情。根據不同之應用，本發明之彈性 ，件可裝飾為臉上之眉毛、眼睛、嘴巴等，並可進—步性 土相配合’以呈現更活潑生動之臉部表情。本發明之 動裝置不僅機構設計簡單，且亦可降低成本。 表&驅 藉由以上較佳具體實施例之詳述，係希望 =特，申，而並非以上述所揭露的較=以= 本發明之麟加以限制。相反地，其目岐希望能涵蓋 = =具，等性的安排於本發明所欲中請之專利範__内。二 騎帽之專職__麟上 廣的解釋，磁使其涵蓋所材_改_及具㈣性的安乍^寬 13 200810818 【圖式簡單說明】 圖一係繪示一人形臉之示意圖。 圖二係繪示根據本發明第一較佳具體實施例之臉部表情驅動 裝置之示意圖。 、 圖三係繪示圖二中臉部表情驅動裝置之外觀視圖。 圖四係纷示圖一中眉毛於人形臉上呈現臉部表情之示意圖。 圖五係繪示根據本發明第二較佳具體實施例之臉部表 裝置之示意圖。 利 圖六f會示根據本發明第三較佳具體實施例之臉部表情驅動 裝置之不思圖。 圖七係緣示圖-中眼睛於人形臉上呈現臉部表情之示意圖。 裝置"根據本發明第四較佳具體實施狀臉部表情驅動 裝置==示根據本發明第五較佳具體實施例之臉部表情驅動 圖十騎示圖一 _嘴巴於人形臉上呈現臉部表情之示意圖( 圖十一係繪示根據本發明第 驅 動裝置之示意ϋ。 1 邊具體實&例之臉部表情 圖。圖十二騎示針中嘴巴於人形臉上呈現臉部表情之示意 【主要元件符號說明】 200810818 10a、10b :眉毛 1 :人形臉 12a、12a’、22a、22a’、22a”、32 :臉部表情驅動裝置 120、220 :第一彈性構件 120b、220b :第二端 124、224 :第一彈性套 20a、20b :眼睛 202 :下眼瞼 226a ··第三端 228 :第三致動器 232 :致動器 30 :嘴巴 302 :下嘴唇 3200 ·•轉盤 324 :第二連桿組 322b :第一短連桿 324b :第二短連桿 40 :表皮 120a、220a :第一端 122、222 :第一致動器 126、234 :第二致動器 200 :上眼瞼 226 :第二彈性構件 226b :第四端 230 :第二彈性套 236 ··第四致動器 300 :上嘴唇 320 :第五致動器 322 ··第一連桿組 322a :第一長連桿 324a :第二長連桿 340a、340b、340c :樞紐 al、a2、a3 :指示方向之箭頭 15l I 'Sixth Preferred Embodiment··············································示意图 Schematic diagram of Table 6. As shown in Figure 1, the mouth 3〇 contains an upper lip 3〇〇 to m 302. In this embodiment, the facial expression driving device of the present invention uses the principle of the action of the mouth 30 on the face 1 and the third embodiment described above. As shown in Fig. 10, when the facial expression driving knives of the present invention actuate the upper lip 300 and the lower lip 302, the mouth 30 is opened, and a variety of facial expressions are presented. _ Seventh preferred embodiment: Please refer to FIG. 6 , FIG. 10 , FIG. 11 and FIG. 12 , FIG. 11 and the seventh preferred embodiment of the facial expression driving device “^ <. 10, the mouth of the figure 10G mouth 3G on the human face 1 presentation of the face table 'sounds ^ face expression drive device 32 and the facial expression drive device are mainly different = the facial expression drive device 32 further includes a The fifth actuation m=group 322 and the second linkage group 324. The first linkage group 322 includes a first person and a first short link coffee, and the second linkage group 324 includes Qin; a rod 3, and a second short link 324b. As shown in Fig. 11, the hook member 3 is pivotally connected to the second long link 3 by a hinge 34Ga at - Ϊ ' ί a long link 3 The melon is pivoted by the insertion into the first short link 322b, and the first long link 321⁄2 is first-short-distance by the hub 34〇c; j; 曰f bf is connected to the first-short The connecting rod island and the second short connecting rod are connected to one of the turntables 3200 of the fifth actuator 320. As shown in Fig. 10-, the fifth actuator 32 is actuated by the first link group, 222 and the third actuating H 228 Connected, and connected by the second link set 3M to the second actuator, said fourth actuator, and said, when the fifth actuator, 320 actuates the turntable 3200 to rotate, first The short 2 ^ a short link 3 can respectively drive the first long link and the second long link 12 200810818 to correspondingly open or close, thereby adjusting the length of the first elastic second elastic structure 226, The second facial part (lower lip 302) can be combined with the face-face part (upper mouth|300) to present the facial expression on the human face as shown in Fig. 12. Fig. 10 - the face of the face The function of the facial expression driving device 32 is the same as that of the facial expression driving device 22a in FIG. 8 and will not be described here. /, In the seventh embodiment described above, the fifth actuator 320 includes a horse. [No] 'to actuate the first link set 322 and the second link set 324. " In the seventh embodiment described above, the third actuator 228 is the same as the first = actuator, The fourth actuator 236 and the second actuator 23 can be designed as the same actuator, depending on the actual application. When the first end of the elastic member rotates, the elastic member will produce f-curve, and then the facial expression of the face. According to different applications, the elasticity of the present invention can be decorated as the eyebrows and eyes of the face. , mouth, etc., and can be combined with the step-by-step soil to present a more lively and vivid facial expression. The moving device of the present invention not only has a simple mechanism design, but also reduces the cost. Table & The detailed description of the embodiments is intended to be limited, and is not limited to the above-described disclosure of the present invention. Conversely, it is intended to cover ==, and the equivalence is arranged in this The invention is intended to be in the patent __. The full-time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Figure 2 is a schematic diagram showing a facial expression driving device according to a first preferred embodiment of the present invention. Figure 3 is a view showing the appearance of the facial expression driving device in Figure 2. Figure 4 is a schematic diagram showing the facial expression on the human face in Figure 1. Figure 5 is a schematic illustration of a face table device in accordance with a second preferred embodiment of the present invention. Fig. 6f shows a disagreement of the facial expression driving device according to the third preferred embodiment of the present invention. Figure 7 is a diagram showing the facial expression on the human face. Device"Face expression driving device according to a fourth preferred embodiment of the present invention == shows a facial expression driving diagram according to a fifth preferred embodiment of the present invention, a ten-riding diagram, a mouth, a face on a human face A schematic diagram of a facial expression (Fig. 11 is a schematic diagram showing a driving device according to the present invention. 1) A facial expression image of a specific embodiment. Figure 12 shows the facial expression on the human face in the mouth of the needle. [Significant of main component symbols] 200810818 10a, 10b: eyebrows 1 : human faces 12a, 12a', 22a, 22a', 22a", 32: facial expression driving devices 120, 220: first elastic members 120b, 220b: Second end 124, 224: first elastic sleeve 20a, 20b: eye 202: lower eyelid 226a · third end 228: third actuator 232: actuator 30: mouth 302: lower lip 3200 · • turntable 324 : second link set 322b: first short link 324b: second short link 40: skin 120a, 220a: first end 122, 222: first actuator 126, 234: second actuator 200: Upper eyelid 226: second elastic member 226b: fourth end 230: second elastic sleeve 236 · · fourth actuation 300: upper lip 320: fifth actuator 322 · first link group 322a: first long link 324a: second long link 340a, 340b, 340c: hub a1, a2, a3: indicating direction Arrow 15