Emms (right) and Robertson saw off their opponents in three sets

The pair lost the first set of their semi-final against Singapore duo Hendri Saputra and Yujia Li but dug deep to secure a 19-21 21-14 21-17 victory.

England's Tracy Hallam reached the women's singles final, but Aamir Ghaffar is out of the men's event.

England's men's and women's doubles pairs were also knocked out.

Robertson and Emms will face second seeds Daniel Shirley and Sara Runesten-Petersen of New Zealand in the final after they beat Malaysian pair Kien Keat Koo and Pei Tty Wong 15-21 21-14 21-15.

Emms told BBC Sport: "We're really relieved to come through that semi-final as it was a seriously tough match against two excellent players.

Emms and Robertson's smash masterclass

"I'm not quite sure how we lost the first game because I thought we were doing everything right, but we kept our momentum going and pulled through."

Robertson said: "We should have won that first game but it didn't panic us and we kept our composure to round off two really tough games.

"We're confident every time we go out on court. We backed ourselves to beat the Singapore pair and we'll back ourselves to overcome the Kiwis in Sunday's final."

But Emms was knocked out of the women's doubles with a 21-8 21-14 loss with Donna Kellogg to third-seeded Singapore pair Yanmei Jiang and Yujia Li.

I just have to go out and do my best - the pressure is on the Malaysian, it's up to her Tracey Hallam

Men's doubles pairing Robert Blair and Anthony Clark also went out at the semi-final stage 21-12 21-11 to Malaysian singles finalist Wong Choong Hann and his partner Choong Tan Fook.

They face Australia's Ashley Brehaut and Travis Denney in Saturday's bronze medal match.

Wales' James Phillips and Jonathan Morgan lost in the quarter-finals.

Number one seed Hallam celebrated her 31st birthday in style, beating Elizabeth Cann from Jersey 21-17 21-8 to set up a meeting with Mew Choo Wong, of Malaysia, in Sunday's final.

"I'm going to sleep early, have a nice bath and a day off on Saturday to celebrate my birthday," said Hallam, who took silver in Manchester four years ago.

"I just have to go out and do my best. The pressure is on the Malaysian, it's up to her."

Ghaffar has only the bronze to aim for after losing his to semi-final Chong Wei Lee, of Malaysia.

He faces India's Chetan Anand, who lost to Wong Choong Hann, in his semi-final.

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Jersey's Cann will attempt to deliver the first Channel Islands medal of the Commonwealth Games in her bronze medal battle against Scotland's Susan Hughes.