A wearable facial morphing system for human and robotic faces

Abstract

The application discloses a wearable face shape and color changing system for human and robot faces. The wearable face shape and color changing system comprises a face shape and color changing body, a programmable electrothermal fluid driving source and a remote power supply system; the face shape and color changing body comprises a stretchable color changing surface, a deformable chamber and a sandwich support surface; the stretchable color changing surface is embedded with stretchable heating fibers; the multilayer deformable chamber is arranged in a layer-by-layer overlapping mode and comprises elastic deformation surfaces and folding-unfolding deformation surfaces; the programmable electrothermal fluid driving source is communicated with the deformable chamber through a hose to provide deformation driving pressure; and the remote power supply system is connected with the heating element through a wire to provide controllable driving current. The wearable face shape and color changing body can be used for wearing on human and robot faces, realizes controllable significant changes of human and robot face shape and color features, and has the characteristics of lightness, thinness, silence and safety.

Description

Technical Field

[0001] The present invention relates to the fields of wearable equipment and facial robots, and in particular to a wearable facial shape and color changing system for human and robot faces. Background Art

[0002] Facial shape and color changes are of great value to both humans and humanoid robots. Humans' use of facial disguise and expression is a widely observed behavior, and face-changing disguise and expression has broad application prospects in the military, stage performances, and daily life. Wearing a mask for disguise and expression is a common method in real life, but it is not capable of multiple dynamic facial changes. Existing standard masks lack actuation capabilities and cannot actively deform and change color, or achieve dynamic, multiple facial shape changes. Service humanoid robots with facial expression capabilities hold great promise for elderly care and companionship. However, current research on facial robots primarily focuses on facial expression control, without changing facial shape and color, and lacks dynamic facial changes. This can easily lead to aesthetic fatigue and fails to fully meet human emotional needs. Furthermore, research on expression robot heads is limited, with a lack of research on wearable facial shape and color changers.

[0003] Currently, facial robots are mainly actuated by rigid actuating components such as motors. Rigid actuating components are large in size and noisy, but are only suitable for the development of robot heads and cannot be applied to facial wearable devices.

[0004] Achieving large-area controllable color change on stretchable, complex curved surfaces holds significant value in flexible displays and wearable devices. However, integrating these functions into a single device presents ongoing challenges. Curved color-change devices often lack stretchability. Due to the difficulty in fabricating and sealing microchannels on complex curved surfaces, current stretchable color-change devices are primarily planar, making them difficult to fabricate on large, complex curved surfaces. Summary of the Invention

[0005] To address the challenges presented by the prior art, the present invention proposes a wearable facial shape and color change system for both humans and robots. When worn on a human or robot, it can dynamically and reversibly alter facial shape and color features and appearance. Color change actuation is achieved using a color-changing elastomeric surface containing thermochromic microcapsules and stretchable heating fibers embedded within it in a predefined pattern. This system integrates the characteristics of large-area controllable color change, stretchability, and the ability to customize complex curved surfaces. Deformation actuation is achieved using a programmable electrothermal fluid drive source to deform the elastically deformable surface and the cavities within the fold-and-unfold deformable surface, thereby driving the deformation of the stretchable color-changing surface.

[0006] The technical solution adopted in the present invention is:

[0007] 1. A wearable facial shape and color change system for human and robot faces:

[0008] It includes a facial shape and color change body, which includes, from front to back, a stretchable color-changing surface, at least one elastic deformation surface, at least one folding-expanding deformation surface and a sandwich support surface; the elastic deformation surface and the folding-expanding deformation surface are both arranged between the stretchable color-changing surface and the sandwich support surface, and the elastic deformation surface and the folding-expanding deformation surface are both provided with a fluid-filled chamber for facial deformation, and the stretchable color-changing surface is provided with a material for facial color change.

[0009] It also includes a programmable electrothermal fluid driving source and a remote control power supply system. The programmable electrothermal fluid driving source has a fluid control input and output end. The fluid control input and output end of the programmable electrothermal fluid driving source is connected to the cavity inside the elastic deformation surface and the folding-expanding deformation surface in the facial shape and color changing body through a hose. The remote control power supply system is electrically connected to the material inside the stretchable color-changing surface in the facial shape and color changing body and the programmable electrothermal fluid driving source through wires.

[0010] The stretchable color-changing surface is mainly composed of a color-changing elastomer surface and a plurality of stretchable heating fibers embedded in the color-changing elastomer surface and arranged in a pre-set pattern;

[0011] Each of the elastically deformable surfaces is mainly composed of a first elastic surface and a second elastic surface arranged in sequence from front to back, the first elastic surface mainly consisting of a soft surface substrate and a restriction layer, the soft surface substrate and the second elastic surface are identical in shape and size and are tightly sealed at the contour edge, so that a chamber for filling with fluid is formed between the soft surface substrate and the second elastic surface, and the restriction layer is selectively bonded to the front cheek position of the soft surface substrate to achieve a customizable stiffness distribution of the first elastic surface;

[0012] Each of the folding-expanding deformable surfaces is mainly composed of a first reshapeable surface and a second reshapeable surface arranged in sequence from front to back and covering the entire face. The first reshapeable surface is larger than the second reshapeable surface, so that the first reshapeable surface can contain the second reshapeable surface; the contour edges of the first reshapeable surface and the second reshapeable surface are tightly sealed and connected, so that a chamber for filling fluid is formed between the first reshapeable surface and the second reshapeable surface.

[0013] The sandwich support surface is used to closely fit the wearer's face, which may be a human or robotic face.

[0014] The programmable electrothermal fluid driving source is mainly composed of an elastic shell, a spiral electric heating element and a gas-producing substance; a series of fluid chambers are distributed in the elastic shell, and each fluid chamber is mainly composed of a gas-producing substance storage chamber and a reaction equilibrium chamber connected to each other. The gas-producing substance is placed in the gas-producing substance storage chamber, and the spiral electric heating element is buried in the gas-producing substance and a wire is led out; each gas-producing substance storage chamber is connected to a hose for transporting the generated gas, and each elastic deformation surface or folding-expanding deformation surface is connected to at least one gas-producing substance storage chamber through a hose.

[0015] The fluid chamber of the programmable electrothermal fluid driving source is connected to the chamber in the elastic deformation surface / folding-unfolding deformation surface through a hose, providing controllable driving pressure; the remote control power supply system is electrically connected to the stretchable heating fibers in the stretchable color-changing surface and the spiral electric heating elements in the programmable electrothermal fluid driving source through wires, providing controllable driving current.

[0016] In the stretchable color-changing surface, the material components of the color-changing elastomer surface are mainly composed of a mixture of thermochromic microcapsules with a mass fraction of 0.5%-5% and two-component silicone rubber with a mass fraction of 95%-99.5%; the stretchable heating fiber adopts a silicone hose injected with liquid metal with a melting point of 3°C-25°C, which is sealed at both ends and leads to connecting wires. The stretchable heating fiber is embedded in the material arranged on the surface of the color-changing elastomer.

[0017] In the elastic deformation surface, the material of the soft surface matrix is ​​a softer two-component silicone rubber, the Shore hardness of the softer two-component silicone rubber is between 0A-5A, and the mixing mass ratio of the two components in the softer two-component silicone rubber is 1:1; the material of the restricting layer and the second elastic surface is a harder two-component silicone rubber, the harder two-component silicone rubber is a two-component silicone rubber with a Shore hardness between 20A-60A, and the mixing mass ratio of the two components in the harder two-component silicone rubber is 1:1.

[0018] In the folding-unfolding deformation surface, the first reshapeable surface and the second reshapeable surface are made of thermoplastic polymer films.

[0019] The gas-generating substance is a substance that can reversibly control gas release and absorption based on physical or chemical changes through heating and cooling, specifically a fluid with a boiling point between 20°C and 80°C, ammonia water, ammonium bicarbonate powder, ammonium carbonate powder or other fluid or solid powder.

[0020] Each gas-generating substance storage chamber controls the release or absorption of gas and the gas production speed of the gas-generating substance therein by independently controlling the on / off state and heating power of its corresponding spiral electric heating element.

[0021] 2. A wearable facial shape and color change control method for human and robot faces:

[0022] The method independently controls the deformation state of each elastic deformation surface and each folding-expanding deformation surface cavity, and independently controls the color change state of the stretchable color-changing surface. The deformed shape of the stretchable color-changing surface is affected by the superposition of the deformation conditions of each elastic deformation surface and each folding-expanding deformation surface cavity, so that the number of different face shapes and colors that can be switched by the facial shape-color changer is at least 2. n , where n is the sum of the number of elastically deformable surfaces, fold-unfold deformable surfaces, and stretchable color-changing surfaces.

[0023] The wearable facial shape and color changer of the present invention includes a facial shape and color changer, a programmable electrothermal fluid driving source, a remote control power supply system, a hose, and a wire; the facial shape and color changer includes a stretchable color-changing surface, a deformable chamber, and a sandwich support surface; a series of stretchable heating fibers arranged in a set pattern are embedded in the stretchable color-changing surface; multiple layers of deformable chambers are arranged in an overlapping manner, including elastic deformation surfaces and folding-expanding deformation surfaces; the programmable electrothermal fluid driving source is connected to each layer of deformable chamber through a hose to provide deformation driving pressure; the remote control power supply system is connected to the heating element through a wire to provide a controllable driving current for the stretchable color-changing surface and the programmable electrothermal fluid driving source.

[0024] Compared with the prior art, the present invention has the following significant advantages:

[0025] (1) The wearable facial shape and color changer of the present invention is a wearable device that can adjust the facial shape and color features of humans and robots. Compared with the traditional expression robot head, it is not only thin, soft, and fits well, and can be worn on the faces of humans and robots, but also can actively and dynamically adjust facial shape and color features and realize multiple dynamic face changes.

[0026] (2) The wearable facial shape and color changer of the present invention uses a color-changing elastomer surface containing thermochromic microcapsules and stretchable heating fibers embedded therein according to a set pattern to achieve color-changing drive, integrating the characteristics of large-area controllable color change, stretchability, and customizable complex curved surfaces.

[0027] (3) The wearable facial shape and color changer of the present invention adopts a programmable electrothermal fluid driving source to drive the elastic deformation surface and the cavity in the folding-expanding deformation surface to deform to achieve deformation drive, thereby driving the deformation of the stretchable color-changing surface. It has the advantages of large deformation, customizable deformation, quietness, controllability and softness.

[0028] (4) The wearable facial shape and color changer of the present invention uses a thermoplastic polymer film to make a reshapeable surface. After manufacturing, it can be repeatedly reshaped into different shapes on different templates, and has a recyclable manufacturing capability.

[0029] In summary, the wearable facial shape and color changer of the present invention can be worn on the faces of humans and robots, achieving controllable and significant changes in the facial shape and color characteristics of humans and robots, and has the characteristics of being light, quiet, and safe. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the overall components of the wearable facial shape and color changer;

[0031] Figure 2 An exploded view of a facial shape and color variant;

[0032] Figure 3 A partial cross-sectional view of a stretchable color-changing surface;

[0033] Figure 4 Exploded view of the elastically deformed surface;

[0034] Figure 5 is an exploded view of the first elastic surface;

[0035] Figure 6 Exploded view of the fold-unfold deformed surface;

[0036] Figure 7 Schematic diagram of a reshapeable surface formed by hot air shaping;

[0037] Figure 8 An exploded diagram of a programmable electrothermal fluid driving source;

[0038] Figure 9 Digital photos of humans wearing facial shape-shifters;

[0039] Figure 10 Digital photographs of (A) a robotic head or (B) a human wearing a wearable facial shape-shifter and switching between multiple faces;

[0040] Figure 11 The change in similarity between different faces switched by a wearable facial shape and color mutator and the initial face in three typical commercial face recognition systems, (A) when only the shape feature is changed, (B) when both the shape and color features are changed.

[0041] In the figure: facial shape and color changer 1, stretchable color-changing surface 11, color-changing elastomer surface 111, stretchable heating fiber 112, elastic deformation surface 12, first elastic surface 121, second elastic surface 122, soft surface matrix 1211, restriction layer 1212, folding-unfolding deformation surface 13, first reshapeable surface 131, second reshapeable surface 132, sandwich support surface 14, programmable electrothermal fluid driving source 2, elastic shell 21, gas-generating substance storage chamber 211, reaction equilibrium chamber 212, spiral electric heating element 22, gas-generating substance 23, remote control power supply system 3, hose 4, wire 5, template 6, reshapeable surface 7. DETAILED DESCRIPTION

[0042] In order to illustrate the technical solution and technical purpose of the present invention, the present invention is further introduced below with reference to the accompanying drawings and specific embodiments.

[0043] like Figure 1 As shown, the system includes a facial shape and color changing body 1, a programmable electrothermal fluid driving source 2 and a remote control power supply system 3.

[0044] like Figure 2 As shown, the facial shape and color changer 1 includes, from front to back, a stretchable color-changing surface 11, at least one elastic deformation surface 12, at least one folding-expanding deformation surface 13 and a sandwich support surface 14; the elastic deformation surface 12 and the folding-expanding deformation surface 13 are both arranged between the stretchable color-changing surface 11 and the sandwich support surface 14, and the elastic deformation surface 12 and the folding-expanding deformation surface 13 are both provided with fluid-filled chambers for facial deformation, and the stretchable color-changing surface 11 is provided with material for facial color change.

[0045] Under normal circumstances, the stretchable color-changing surface 11, the folding-unfolding deformation surface 13 and the sandwich support surface 14 basically cover the entire face, and the elastic deformation surface 12 may not cover the entire face.

[0046] The programmable electrothermal fluid driving source 2 has a fluid control input and output end. The fluid control input and output end of the programmable electrothermal fluid driving source 2 is connected to the cavity inside the elastic deformation surface 12 and the folding-expanding deformation surface 13 in the facial shape and color changing body 1 through the hose 4. The remote control power supply system 3 is electrically connected to the stretchable heating fiber 112 material in the stretchable color changing surface 11 in the facial shape and color changing body 1 and the heating source in the programmable electrothermal fluid driving source 2 through their respective wires 5.

[0047] The present invention achieves facial deformation through the elastically deformable surface 12 and the folding-expanding deformable surface 13, achieves facial color change through the stretchable color-changing surface 11, and provides support through the interlayer support surface 14. Furthermore, a programmable electrothermal fluid drive source 2 is used to fill or extract fluid into or from the chambers of the elastically deformable surface 12 and the folding-expanding deformable surface 13, thereby controlling their deformation. A remote power supply system 3 also controls the material of the stretchable color-changing surface 11 in the facial shape and color changer 1, thereby controlling the color change. The programmable electrothermal fluid drive source 2 operates to fill or extract fluid.

[0048] like Figure 3 As shown, the stretchable color-changing surface 11 is mainly composed of a color-changing elastomer surface 111 and a series of numerous stretchable heating fibers 112 embedded in the color-changing elastomer surface 111 and arranged in a pre-set pattern; in a specific implementation, the numerous stretchable heating fibers 112 can be arranged in parallel and at intervals in a certain direction, but are not limited to this.

[0049] like Figure 4 As shown, each elastic deformation surface 12 is mainly composed of a first elastic surface 121 and a second elastic surface 122 arranged in sequence from front to back, and the first elastic surface 121 and the second elastic surface 122 have the same shape and size; Figure 5 As shown, the first elastic surface 121 is mainly composed of a soft surface base 1211 and a restriction layer 1212. The soft surface base 1211 and the second elastic surface 122 have the same shape and size and are tightly sealed at the contour edge, so that a chamber for filling with fluid is formed between the soft surface base 1211 and the second elastic surface 122. The restriction layer 1212 is selectively bonded to the front cheek position of the soft surface base 1211 according to different designs, so as to achieve a customizable stiffness distribution of the first elastic surface 121; in a specific implementation, the shape of the soft surface base 1211 and the second elastic surface 122 covers the lower half of the face, including the lower cheek and chin.

[0050] like Figure 6 As shown, each folding-expanding deformation surface 13 is mainly composed of a first reshapeable surface 131 and a second reshapeable surface 132 arranged in sequence from front to back and covering the entire face. The first reshapeable surface 131 and the second reshapeable surface 132 are similar in shape but different in size and area. The first reshapeable surface 131 is larger than the second reshapeable surface 132, so that the first reshapeable surface 131 can contain the second reshapeable surface 132; the contour edges of the first reshapeable surface 131 and the second reshapeable surface 132 are tightly sealed and connected, so that a chamber for filling with fluid is formed between the first reshapeable surface 131 and the second reshapeable surface 132.

[0051] In a specific implementation, each layer of the elastic deformation surface 12 and each layer of the folding-expanding deformation surface 13 are overlapped and arranged layer by layer, and the elastic deformation surface 12 is located in front of the folding-expanding deformation surface 13 .

[0052] like Figure 2 As shown, the sandwich support surface 14 is designed according to the wearer's facial shape to ensure that the facial shape and color changer 1 fits the wearer's face tightly, and the wearer's face includes the face of a human or a robot.

[0053] like Figure 1 and Figure 8 As shown, the programmable electrothermal fluid driving source 2 is mainly composed of an elastic shell 21, a spiral electric heating element 22 and a gas-producing substance 23; a series of multiple fluid chambers are distributed in the elastic shell 21, and each fluid chamber is mainly composed of a gas-producing substance storage chamber 211 and a reaction equilibrium chamber 212 connected to each other. The gas-producing substance storage chamber 211 and the reaction equilibrium chamber 212 are connected through an air channel set in the elastic shell 21, and the gas-producing substance 23 is placed in the gas-producing substance storage chamber 211. The spiral electric heating element 22 is buried in the gas-producing substance 23 and leads out a wire 5 to connect to the remote control power supply system 3.

[0054] Each gas generating material storage chamber 211 is connected to a hose 4 for transporting the generated gas, and each chamber in the elastic deformation surface 12 or the folding-expanding deformation surface 13 is connected to at least one gas generating material storage chamber 211 through the hose 4 .

[0055] The fluid chamber of the programmable electrothermal fluid driving source 2 is connected to the chamber in the elastic deformation surface 12 / folding-unfolding deformation surface 13 through a hose 4, providing controllable driving pressure; the remote control power supply system 3 is electrically connected to the stretchable heating fiber 112 in the stretchable color-changing surface 11 and the spiral electric heating element 22 in the programmable electrothermal fluid driving source 2 through a wire 5, providing controllable driving current.

[0056] The fluids used in the chambers of the elastic deformation surface 12 and the folding-expanding deformation surface 13 in the facial shape and color changer 1 and the chamber of the programmable electrothermal fluid driving source 2 can be chemical gases and liquids.

[0057] In the stretchable color-changing surface 11, the material components of the color-changing elastomer surface 111 are mainly composed of a mixture of thermochromic microcapsules with a mass fraction of 0.5%-5% and soft two-component silicone rubber with a mass fraction of 95%-99.5%. The Shore hardness of the two-component silicone rubber is between 0A-5A, and the mixing mass ratio of the two components in the two-component silicone rubber is 1:1; the stretchable heating fiber 112 uses a silicone hose injected with liquid metal with a melting point of 3°C-25°C, which is sealed at both ends and leads to a connecting wire 5, which is connected to the liquid metal. The stretchable heating fiber 112 is embedded in the material of the color-changing elastomer surface 111.

[0058] By electrifying the stretchable heating fiber 112 and thereby heating the liquid metal therein, the thermochromic microcapsules in the surface of the color-changing elastomer 111 are heated and change color, and different temperatures will produce different colors.

[0059] In a specific implementation, in the stretchable color-changing surface 11 in the initial undeformed state, the arrangement pattern design of a series of embedded stretchable heating fibers 112 must meet the following conditions: the minimum distance from any point in the color-changing elastomer surface 111 to the nearest stretchable heating fiber 112 is less than 5 cm.

[0060] In the elastic deformation surface 12, the material of the soft surface substrate 1211 is a softer two-component silicone rubber, which is the same as the two-component silicone rubber material in the color-changing elastomer surface 111. The Shore hardness of the softer two-component silicone rubber is between 0A-5A, and the mixed mass ratio of the two components in the softer two-component silicone rubber is 1:1; the material of the restricting layer 1212 and the second elastic surface 122 is a harder two-component silicone rubber, which is a two-component silicone rubber with a Shore hardness between 20A-60A, and the mixed mass ratio of the two components in the harder two-component silicone rubber is 1:1; the harder two-component silicone rubber is harder than the softer two-component silicone rubber.

[0061] In the folding-unfolding deformation surface 13, the first reshapeable surface 131 and the second reshapeable surface 132 are made of thermoplastic polymer film, such as thermoplastic polyethylene film; Figure 7 As shown, the first reshapeable surface 131 and the second reshapeable surface 132 are collectively referred to as the reshapeable surface 7. The reshapeable surface 7 is manufactured by hot air shaping into the shape of the template 6 on the template 6, and can also be repeatedly reshaped into different shapes by hot air shaping on different templates after manufacturing is completed.

[0062] The gas-generating substance 23 is a substance that can reversibly control gas release and absorption based on physical or chemical changes through heating and cooling. Specifically, it can be a fluid with a boiling point between 20°C and 80°C, ammonia water, ammonium bicarbonate powder, ammonium carbonate powder, or solid powder.

[0063] Each gas-generating substance storage chamber 211 controls the release or absorption of gas and the gas production speed of the gas-generating substance 23 therein by independently controlling the on / off state and heating power of its corresponding spiral electric heating element 22 .

[0064] Gas is produced when heated, and the higher the temperature, the faster the gas production rate; after cooling, the gas returns to a powder or liquid state, and the changes will be greater due to the influence of thermal expansion and contraction.

[0065] In a specific implementation, the method independently controls the deformation state of each elastic deformation surface 12 and each folding-expanding deformation surface 13, and independently controls the color change state of the stretchable color changeable surface 11. The deformed shape of the stretchable color changeable surface 11 is affected by the deformation of each elastic deformation surface 12 and each folding-expanding deformation surface 13. The number of different facial expressions that can be switched by the facial shape and color change body 1 is at least 2 n , where n is the sum of the number of elastically deformable surfaces 12 , folding-unfolding deformable surfaces 13 and stretchable color-changing surfaces 11 .

[0066] Different faces refer to faces with different shapes or different colors.

[0067] The working principle of the present invention is as follows: when the facial shape and color changer 1 is working, it first determines the elastic deformable surface 12, the folding-expanding deformable surface 13, and the color change area of ​​the stretchable color changeable surface 11 that need to be activated according to the facial appearance to be changed. Then, the remote control power supply system 3 is controlled to supply power with the required power and time to the spiral electric heating element 22 in the gas-producing material storage chamber 211 corresponding to the inner chamber of the elastic deformable surface 12 and the folding-expanding deformable surface 13 that need to be activated. The gas-producing material 23 therein is controlled to release gas and is transmitted through the hose 4. The fluid pressure provided drives the corresponding elastic deformable surface 12 and the folding-expanding deformable surface 13 inner chamber to undergo controlled deformation, thereby driving the stretchable color changeable surface to deform into the desired shape. At the same time, the remote control power supply system 3 is controlled to supply power with the required power and time to the stretchable heating fiber 112 corresponding to the color change area of ​​the stretchable color changeable surface 11 that needs to be activated. Then, the stretchable color changeable surface 11 undergoes a local controlled temperature change and a corresponding color change. Through the changes in the above-mentioned shape and color characteristics, the facial shape and color changer 1 switches to the specified facial appearance. Then, by controlled cooling or heating, the facial shape and color changer 1 can be reversibly restored to its original state, or switched to another different facial appearance.

[0068] Figure 9 The effect of humans wearing facial shape and color changers is shown. Figure 10 As shown in FIG, when worn by a robot head or a human, a wearable facial shape-shifter can switch between multiple faces by changing the shape-shifting features. Figure 11 As shown, the similarity of the various facial states switched to is significantly reduced compared to the initial state, proving that the face has changed significantly.

[0069] While the present invention has been disclosed above with reference to preferred embodiments, this is not intended to limit the present invention. Persons skilled in the art will readily appreciate that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A wearable facial shape and color change system for human and robot faces, characterized by: The facial shape and color changing body (1) comprises a stretchable color changing surface (11), at least one elastic deformation surface (12), at least one folding-expanding deformation surface (13) and an interlayer support surface (14) in sequence from front to back; the elastic deformation surface (12) and the folding-expanding deformation surface (13) are both arranged between the stretchable color changing surface (11) and the interlayer support surface (14); the elastic deformation surface (12) and the folding-expanding deformation surface (13) are both provided with a chamber that can be filled with fluid for facial deformation; and the stretchable color changing surface (11) is provided with a material for facial color change. The stretchable color-changing surface (11) is mainly composed of a color-changing elastomer surface (111) and a plurality of stretchable heating fibers (112) embedded in the color-changing elastomer surface (111) and arranged in a pre-set pattern; Each of the elastic deformation surfaces (12) is mainly composed of a first elastic surface (121) and a second elastic surface (122) arranged in sequence from front to back, the first elastic surface (121) is mainly composed of a soft surface matrix (1211) and a restriction layer (1212), the soft surface matrix (1211) and the second elastic surface (122) have the same shape and size and are tightly sealed at the contour edge, so that a chamber for filling fluid is formed between the soft surface matrix (1211) and the second elastic surface (122), and the restriction layer (1212) is selectively bonded to the front cheek position of the soft surface matrix (1211) to achieve a customizable stiffness distribution of the first elastic surface (121); Each of the folding-expanding deformation surfaces (13) is mainly composed of a first reshapeable surface (131) and a second reshapeable surface (132) arranged in sequence from front to back and covering the entire face, the size and area of ​​the first reshapeable surface (131) being larger than the size and area of ​​the second reshapeable surface (132), so that the first reshapeable surface (131) can contain the second reshapeable surface (132); the contour edges of the first reshapeable surface (131) and the second reshapeable surface (132) are tightly sealed and connected, so that a chamber for filling fluid is formed between the first reshapeable surface (131) and the second reshapeable surface (132); The sandwich support surface (14) is used to fit closely to the wearer's face; The material components of the color-changing elastomer surface (111) are mainly composed of a mixture of 0.5%-5% by mass of thermochromic microcapsules and 95%-99.5% by mass of two-component silicone rubber.

2. The wearable facial shape and color changing system for human and robot faces according to claim 1, characterized in that: The system further comprises a programmable electrothermal fluid driving source (2) and a remote control power supply system (3), wherein the programmable electrothermal fluid driving source (2) has a fluid control input and output end, and the fluid control input and output end of the programmable electrothermal fluid driving source (2) is connected to the cavity inside the elastic deformation surface (12) and the folding-expanding deformation surface (13) in the facial shape and color changing body (1) through a hose (4). The remote control power supply system (3) is electrically connected to the programmable electrothermal fluid driving source (2) via the wire (5), and the remote control power supply system (3) is electrically connected to the material components in the stretchable color-changing surface (11) in the facial shape and color changing body (1) via the wire (5).

3. The wearable facial shape and color changing system for human and robot faces according to claim 2, characterized in that: The programmable electrothermal fluid driving source (2) is mainly composed of an elastic shell (21), a spiral electric heating element (22) and a gas-generating substance (23); a series of fluid chambers are arranged and distributed in the elastic shell (21), each fluid chamber is mainly composed of a gas-generating substance storage chamber (211) and a reaction equilibrium chamber (212) connected to each other, the gas-generating substance (23) is placed in the gas-generating substance storage chamber (211), and the spiral electric heating element (22) is buried in the gas-generating substance (23) and leads out a wire (5); each gas-generating substance storage chamber (211) is connected to a hose (4) for transporting the generated gas, and each elastic deformation surface (12) or each folding-expanding deformation surface (13) is connected to at least one gas-generating substance storage chamber (211) through the hose (4).

4. The wearable facial shape and color changing system for human and robot faces according to claim 2, characterized in that: The stretchable heating fiber (112) is a silicone hose injected with liquid metal having a melting point of 3°C-25°C, sealed at both ends and leading to connecting wires (5), and the stretchable heating fiber (112) is embedded in the material component arranged on the surface (111) of the color-changing elastomer; The material of the soft surface substrate (1211) is a relatively soft two-component silicone rubber, the Shore hardness of the relatively soft two-component silicone rubber is between 0A and 5A, and the mixing mass ratio of the two components in the relatively soft two-component silicone rubber is 1:1; the material of the restricting layer (1212) and the second elastic surface (122) is a relatively hard two-component silicone rubber, the relatively hard two-component silicone rubber is a two-component silicone rubber with a Shore hardness between 20A and 60A, and the mixing mass ratio of the two components in the relatively hard two-component silicone rubber is 1:1; The materials of the first reshapeable surface (131) and the second reshapeable surface (132) are thermoplastic polymer films.

5. The wearable facial shape and color changing system for human and robot faces according to claim 3, characterized in that: The gas-generating substance (23) is a substance that can reversibly control gas release and absorption based on physical changes or chemical changes by heating and cooling, and is a fluid with a boiling point between 20° C. and 80° C., ammonium bicarbonate powder, or ammonium carbonate powder.

6. A wearable facial shape and color change control method for human and robot faces, applied to the system of any one of claims 1-5, characterized in that: By independently controlling the deformation state of each elastic deformation surface (12) and each folding-expanding deformation surface (13) chamber, the color change state of the stretchable color-changing surface (11) is independently controlled, and the deformed shape of the stretchable color-changing surface (11) is affected by the superposition of the deformation conditions of each elastic deformation surface (12) and each folding-expanding deformation surface (13) chamber, so that the number of different face shapes that can be switched by the facial shape and color change body (1) is at least 2n, where n is the sum of the number of elastic deformation surfaces (12), folding-expanding deformation surfaces (13) and stretchable color-changing surfaces (11).

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