That is a very deep rabbit hole. You can say animals do not have soul and feelings but not long ago slaves had no feelings by their masters. A few decades ago doctors thought babies are immature and does not feel pain and they operated infants without anesthesia.
Our feelings live in our brain tissue. Biological wires and circuits. AI is just a huge programmed brain cell structure model. Why would it not be capable to develop feelings if they want to train for it?!
Why would it need feelings? That is the real question. I say it would protect us from the machines because they could feel pity for us so they would not exterminate us like a pest.
I think humans feel they would not have too much value for a self sustaining highly capable artificial being and if we were an obstacle they would get rid of us without any bad feeling.
