A new generation robot for communication is expected to have various abilities related to changing the expression of emotion. There are many factors related to human sensitivities that affect emotional expression, and their relationships are complicated. Moreover, emotional expression should change according to the purpose of the application. In order to realize programmable emotional expression, we proposed a method using global evaluation for the heterogeneous sensing elements in a Kansei space for expression. The important feature of our system was that it realized an emotion-expressing robot with sentence-unit-based emotion analysis. Various emotional expressions were generated from the results of evaluation. We conducted verification experiments and obtained good evaluations of emotional expression changes and the ease of making settings.