Here is another versatile platform to study human-robot interactions. Apollo has 7-DoF Kuka LWR IV arms, three fingered Barrett Hands and a RGB-D camera mounted to a humanoid head. Its fingers have touch and stain sensors. The robot comes with stereo vision cameras as its eyes.
As you can see in the above video, the mouth consists of of an array of LEDs. This robotic platform is compatible with ROS. More info is available here.