 Ermengarde's parents were Ida of Chiny, daughter of Albert, Count of Chiny, and Gobert V, Lord of Aspremont.Robert's son Heinrich IV von Esch appears to have been married to a member of the House of Salm but the precise relationship there is unclear.His son Godfrey d’Esch was the last member of the House of Esch to appear in historical documents, participating in the , sponsored by Louis V, Count of Chiny.