A challenge of using robots such as learning tool is to support the learning process according to cognitive and emotional user's characteristics. This paper presents a novel framework named Human-Robot Scaffolding, a learning activity during which robots are giving physical, emotional and cognitive support according to the emotional and cognitive learner's characteristics. This document is divided into four sections. First, the theoretical concepts from psychology and education, are presented. Second, the scaffolded module grounded in the psychology flow theory, is analyzed. Third, the modules of input, reasoning, interpretation and action, are explained. Finally, the perspectives to implement the framework into Baxter Research Robot, are presented.