This paper proposes a new communication strategy based on physical world objects. In usual human-robot interaction, a human looks on the robot's behaviors without responding to them and seldom immerses him/herself in the interaction. The communication strategy achieves human's immersion in interaction by generating an affective utterance which stimulates a human's feeling about a physical wold object. The innovative idea of the strategy is to employ the actual physical objects to mediate the human-robot interaction. In particular, since the affective utterance relates directly to a sort of human's sensory perception, it is easy to develop a relationship between a human and a robot.