Robots, robots working and living with humans, have been already installed in many places and will increase in the future. In such applications, HRI plays a crucial role; it is therefore important to make better robots that can live with humans. In this paper, we focused on haptic communication by investigating the relationship between emotions and human touch when interacting with a robot. We used a 5-DOF robot arm and installed 3 tactile sensors on different parts of its body. We collected 9 types of touch gestures on each of the three sensors and the direction (3 main directions: top, side, and above) performed by participants. Our results suggest that similar touch gestures can have different expressive meanings depending on the direction in which they are performed, and show promises of using raw force to understand expressive meanings from touch gestures.