Tips for using the database

  • Each page (clickable link) below contains information about a specific scale. Scales are grouped by category and the guideline was applied to each scale. Click on the links to get more information about a scale.
  • In some cases, the scale development and validation process was conducted in separate papers (e.g., Avatar Embodiment) and therefore the guideline was applied to each paper individually.
  • If a scale has been updated, we will include a link at the top of the page to the most recent version of the scale.
  • Scale pages include: a construct definition (as reported in the paper - quoted where possible), a rating percentage out of 100%, details about which items it received points for (a check indicates a point), a comments section with extra information by the expert reviewers where applicable, a link to the paper and citation in APA format, where possible a PDF of the scale and administration and scoring instructions, and a list of the final scale items as reported in the paper.
  • Use the comment section on each page to figure out the specific details including about whether this was a validation study.
  • Don’t just rely on the rating value that has been reported on the page - read the papers!

Scales by Category

The values to the left of the scale title indicate the total score (out of 100 max) that the scale received using our guideline.

Anthropomorphism

85 Anthropomorphsim Rasch

Attitudes/Attributes

100 General Attitudes Towards Robots Scale (GAToRS)
100 Perception of Agency (PA) scale)
85  Robotic Social Attributes Scale (RoSAS)
69  Robot Anxiety Scale (RAS)
69  Negative Attitudes Towards Robots Scale (NARS)
62  Educational Robot Attitude Scale (ERAS)
46  Multidimensional Robot Attitude Scale
38  Perceived Empathy (RoPE)
23  Godspeed Scale

Collaborative Fluency

46  Collaborative Fluency

Morality

92  Perceived Moral Patiency Scale (PMP)
85  Perceived Moral Agency Scale (PMA)
38  Moral Concern for Robots Scale (MCRS)

Perceived Embodiment


92  EmCorp Scale
85  Avatar Embodiment
54  Avatar Embodiment - Validated

Safety

46  Psychological Safety

Social Acceptance

77  Frankenstein Syndrome Questionnaire

Trust

85  Trust in Industrial Human-Robot Collaboration
77  HRI Trust Scale
62  Multidimensional Measure of Trust (MDMT)
31  Trust Perception Scale-HRI
23  Multidimensional Measure of Trust (MDMT) version 2



Scales

Sort by clicking on any of the headers below

Rating ScaleName Construct label DimLabels NumItems Title Authors Year
100 GAToRS attitudes towards robots personal level positive attitude, personal level negative attitude, societal level positive attitude, societal level negative attitude 20 General Attitudes Towards Robots Scale (GAToRS): A New Instrument for Social Surveys Koverola et al. 2022
100 PA perceived agency unidimensional 14 The Perception of Agency Trafton et al. 2024
92 EmCorp Scale perceived embodiment The Peculiarities of Robot Embodiment (EmCorp Scale) Hoffmann et al. 2018
92 PMP perceived moral patiency in robots care, fairness, authority, loyalty, purity, and liberty 18 Perceived moral patiency of social robots: Explication and scale development Banks et al. 2023
85 SEQ (Standardized Embodiment Questionnaire) version 2 perceived embodiment appearance, response, ownership, multisensory 16 Avatar Embodiment. A Standardized Questionnaire Peck and GonzalezFranco 2021
85 RoSAS social attributes that people ascribe to machines competence, warmth, discomfort 18 The Robotic Social Attributes Scale (RoSAS): Development and Validation Carpinella et al. 2017
85 NA trust safe cooperation, robot and gripper reliability, robot's motion and pickup speed 10 The Development of a Scale to Evaluate Trust in Industrial Humanrobot Collaboration Charalambous, Fletcher, Webb 2016
85 NA anthropomorphism unclear unclear Perceived HumanLikeness of Social Robots: Testing the Rasch Model as a Method for Measuring Anthropomorphism Ruijten et al. 2019
85 PMA perceived moral agency in robots Dependency and morality 10 A perceived moral agency scale: Development and validation of a metric for humans and social machines Banks 2019
77 Frankenstein Syndrome Questionnaire social acceptance of humanoid robots general anxiety toward humanoid robots, apprehension toward social risks of humanoid robots, trusworthiness for developers of humanoid robots, expectation for humanoid robots in daily life 27 or 30 Social acceptance of humanoid robots in Japan: A survey for development of the frankenstein syndorome questionnaire Nomura et al. 2012
77 HRI Trust Scale trust team configuration, team process, context, task, and system 36 You Want Me to Trust a ROBOT The Development of a HumanRobot Interaction Trust Scale Yagoda and Gillan 2012
69 RAS anxiety toward robots unclear 11 Measurement of Anxiety toward Robots Nomura et al. 2006
69 NARS negative attitudes towards robots Measurement of negative attitudes toward robots Nomura et al. 2006
62 MDMT trust performance trust and moral trust 16 A multidimensional conception and measure of humanrobot trust Malle, B. and Ullman D. 2021
62 Educational Robot Attitude Scale (ERAS) attitudes of secondary school students towards the use of humanoid robots in educational settings engagement, enjoyment, anxiety, intention 17 Development and validation of an educational robot attitude scale (ERAS) for secondary school students. Sisman et al. 2019
54 SEQ (Standardized Embodiment Questionnaire) perceived embodiment Body ownership, Agency and motor control, Tactile sensations, Location of the body, External appearance 25 Avatar Embodiment. Towards a Standardized Questionnaire GonzalezFranco and Peck 2018
46 NA collaborative fluency not reported 8 Evaluating Fluency in HumanRobot Collaboration Hoffman, G 2019
46 NA psychological safety performance, hummaness, acceptable, harmlessness, toughness, and agency 33 New Measurement of Psychological Safety for Humanoid Kamide et al. 2012
46 MultiDimensional Robot Attitude Scale attitudes toward domestic robots familiarity, interest, negative attitude, selfefficacy, appearance, utility, cost, variety, control, social support, operation, environmental fit 49 Development of the Multidimensional Robot Attitude Scale: Constructs of People�s Attitudes towards Domestic Robots Ninomiya et al. 2015
38 RoPE perceived empathy empathic understanding and empathic response 16 The RoPE Scale: a Measure of How Empathic a Robot is Perceived Charrier et al. 2020
38 MCRS moral concern for robots basic moral concern and concern for psychological harm 21 Measurement of Moral Concern for Robots Nomura et al. 2019
31 emotion Measuring Emotion: The Selfassessment Manikin and the Semantic Differential Margaret M. Bradley and Peter J. Lang 1994
31 Trust Perception ScaleHRI trust unclear 40 or 14 Measuring Trust in Human Robot Interactions: Development of theTrust Perception ScaleHRI Schaefer 2016
23 MDMTv2 trust transparent, reliable, ethical, competent, benelovent 20 Measuring HumanRobot Trust with the MDMT (MultiDimensional Measure of Trust) Malle, B. and Ullman D. 2022
23 Godspeed perception of robots anthropomorphism, animacy, likeabiliy, perceived intelligence, perceived safety 24 Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots Bartneck et al. 2009