A novel affect-sensitive human-robot cooperative framework is presented in this paper. Peripheral physiological indices are measured through wearable biofeedback sensors to detect the affective state of the human. Affect recognition is performed through both quantitative and qualitative analyses. A subsumption control architecture sensitive to the affective state of the human is proposed for a mobile robot. Human-robot cooperation experiments are performed where the robot senses the affective state of the human and responds appropriately. The results presented here validate the proposed framework and demonstrate a new way of achieving implicit communication between a human and a robot.