1. An emotionally-expressive robot configured to respond to touches by an interactant, wherein the emotionally-expressive robot comprises: a body comprising a deformable portion and a non-planar outer surface; and an emotion-expressing system, comprising: an internal touch sensor embedded within the body, wherein the deformable portion of the body is positioned intermediate the internal touch sensor and at least a portion of the non-planar outer surface, and wherein the internal touch sensor is configured to detect externally-applied forces at a plurality of non-planar locations on the non-planar outer surface through the deformable portion; a feedback generator; and a controller in communication with the internal touch sensor and the feedback generator, wherein the controller is configured to determine an emotional state of the robot based on feedback from the internal touch sensor, and wherein the feedback generator is configured to generate feedback indicative of the emotional state.