Sound noise of motor often disturb familiarity under emotional human-robot interaction. ACTune (ACTive Tune) is proposed as psychological active noise control method for realizing auditory familiarity, where consonant/ dissonant sound created as a combination of motor sound and tuning sound effect according to the motion cancels out of the psychological effect of motor sound. ACTune can be applied not only to psychological noise control, but also to Deep expression for home robot