A book about robots and feelings being banned?

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oldschoolrhp

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In high school I had to read about book about what I believe were robots, or human androids in space, and feelings and emotions had been banned from society. One of the younger android guys had some feelings for something and ended up back in time, 13th or 14th century, as a Dutch farmer boy IIRC.

I know it's kinda convoluted but does anyone have any idea what book this is?
He was sent back in the past to experience feelings and emotions and to get an understanding on why society banned them in the first place.
 
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