目的 为优化人与机器人动作情感交互方式，研究类人型机器人动作单模态情绪表达的可识别性，探究类人型机器人动作情绪识别的影响因素。方法 以类人型机器人NAO为例，采用问卷调查的方式，基于离散情绪模型，获取机器人NAO动作表达情绪的识别性、效价和唤醒度，研究类人型机器人动作的情绪识别性、效价和唤醒度，基于认知匹配理论研究类人型机器人动作与真人模拟动作、真人自然动作情绪表达差异的影响因素。结果 人类能够通过类人型机器人动作的单模态情绪表达，在不同情感语义上进行比较细腻的情绪识别，机器人形态及动作的幅度、速度、力量是情绪识别的影响因素。结论 建立类人型机器人动作与情感语义、效价及唤醒度的关系模型，以及类人型机器人动作情绪能量图，为机器人情感表达和动作交互设计提供较为系统的参考模型。

In order to optimize the emotional interaction between human and robot, the identifiability of single-mode emotion expression of humanoid robot action was studied, and the influencing factors of humanoid robot action emotion recognition were explored. Taking the humanoid robot NAO as an example, the recognition, potency and arousal degree of the emotion expressed by the NAO action of the robot are obtained by questionnaire survey based on the discrete emotion model. The emotion recognition, potency and arousal degree of the humanoid robot action are studied. Based on the cognitive matching theory, the emotional expression differences between humanoid robot action and human simulated action and human natural action are studied The influencing factors. It is found that human beings can recognize emotions in different emotional semantics through the single-mode emotion expression of humanoid robot action. The robot shape, the amplitude, speed and strength of action are the influencing factors of emotion recognition. The relationship model between humanoid robot action and emotion semantics, valence and arousal degree is established, and the emotion energy diagram of humanoid robot action is also established, which provides a more systematic reference model for robot emotion expression and action interaction design.