Emotion in Judaism

I would love to hear your opinion on the place of emotion in Judaism. Is there any added value in serving God with emotion, observing the commandments with emotion, a personal and emotional connection with God, love, awe, and the like, or is it all imagination and gut feeling and we should strictly observe the commandments exactly as they are written and there is no point in adding anything beyond that?
Sometimes I see a Jew who lives literally every moment with God, he prays with emotion, he keeps the commandments with devotion and is moved. I am very impressed by this, but I want to know where all of this fits in Judaism.