Having emotions is essential for robots to understand and sympathize with the feelings of people. In addition, it may allow the robots to be accepted into human society. The role of emotions in decision-making is another important perspective. In this paper, a model of emotions based on various neurological and psychological findings that are related to empathic communication between humans and robots is proposed. Subsequently, a mechanism of decision-making that is based on affects using convolutional LSTM and deep Q-network is examined.