It is always a difficult problem to demonstrate the users' perceptual demand in the form design of home service robots. In this paper, the relationship between the design elements of the head form of home service robots and the perceptual evaluation of users is analyzed quantitatively by Kansei engineering and BP neural network. Finally, the aided design system of home service robots' head form is constructed by using VB language with the trained BP network and 3D modeling software. Furthermore, it's considered that the results should be applied to the overall form design of home service robots and the impacts of different design constraints should also be incorporated as the input layer of BP network. Thus the more comprehensive aided design system of home service robots could be established.