Database
Tips for using the database
- Each page below contains information, including guideline ratings, about each specific scale. Click on the links to get more information about a scale.
- In some cases, scale development and validation was conducted in separate papers (e.g., MDMT) 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 guideline rating out of 100%, details about guideline items met (a check indicates a point), a comment 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.
- The comment section can be used to figure out specific details about the scale.
- Don’t just rely on the guideline rating – read the papers!
Scales by Category
The values to the left of the scale title indicate the guideline rating (out of 100 max) that the scale received.
Anthropomorphism
100 Individual Differences in Anthropomorphism Questionnaire - Child Form (IDAQ-CF)
92 Scale of Social Robot Anthropomorphism (SSRA)
85 Anthropomorphsim Rasch
69 Individual Differences in Anthropomorphism Scale (IDAQ)
38 Perceived Empathy (RoPE)
31 Anthropomorphic Tendencies Scale (ATS)
Attitudes/Attributes
100 General Attitudes Towards Robots Scale (GAToRS)
85 Robotic Social Attributes Scale (RoSAS)
85 Self-Efficacy in HRI (SE-HRI))
77 Attitudes Towards Robots Measure (ARM)
69 Robot Anxiety Scale (RAS)
69 Negative Attitudes Towards Robots Scale (NARS)
62 Educational Robot Attitude Scale (ERAS)
62 Human Robot Interaction Stress Scale (HRISS)
46 Multidimensional Robot Attitude Scale (MRAS)
23 Godspeed Scale
15 Mental Models of Robots
Mental Models
38 Robot Threat Assessment (RoTA)
Mind/Agency Perception
100 Perception of Agency (PA) scale
85 Dimensions of Mind Perception (MMP35)
85 Weisman Mind Perception
69 Dimensions of Mind Perception (Gray, Gray, Wegner)
62 Unidimensional Mind Perception
Morality
92 Perceived Moral Patiency Scale (PMP)
85 Perceived Moral Agency Scale (PMA)
85 Robot’s Rights and Responsibilities Scale (RRR)
38 Moral Concern for Robots Scale (MCRS)
Perceived Embodiment
85 Avatar Embodiment
77 EmCorp Scale
54 Avatar Embodiment - Validated
Safety/Danger
100 Perceived Danger (PD)
46 Psychological Safety
Social
100 Connection-Coordination Rapport Scale (CCR)
92 Human-Robot Interaction Evaluation Scale (HRIES)
85 Machines As Social Entities (MASE)
77 Frankenstein Syndrome Questionnaire (FSQ)
69 Partner Modeling Questionnaire (PMQ)
69 Uncanny Valley Effect
62 Partner Modeling in Speech Interfaces
46 Collaborative Fluency
Trust
85 Trust in Industrial Human-Robot Collaboration
77 HRI Trust Scale
62 Multidimensional Measure of Trust (MDMT)
62 Trust in Automation - Korber (TiA)
46 Trust in Automation - Jian (TIA)
31 Trust Perception Scale-HRI
23 Multidimensional Measure of Trust (MDMT) version 2
Usability
23 System Usability Scale (SUS)
23 Usefulness, Satisfaction, and Ease of Use Scale (USE)
User Experience
85 User Experience Questionnaire (UEQ)
Workload
46 Subjective Workload Assessment Technique (SWAT)
38 NASA Task Load Index (NASA-TLX)
31 Human Robot Interaction Workload Measure (HRI-WM)
Scales
Sort by clicking on any of the headers below
| Rating | ScaleName | Construct label | DimLabels | NumItems | Title | Authors | Year |
|---|---|---|---|---|---|---|---|
| 100 | ConnectionCoordination Rapport Scale (CCR) | rapport | Connection, coordination | 18 | Connectioncoordination rapport (CCR) Scale: A dualfactor scale to measure humanrobot rapport | Lin et al. | 2025 |
| 100 | General Attitudes Towards Robots Scale (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 | Individual Differences in Anthropomorphizing Questionnaire Child Form (IDAQ CF) | tendency to anthropomorphize in children | nature, technology, animals | 12 | Kids See Human Too Adapting an Individual Differences Measure of Anthropomorphism for a Child Sample | Serverson and Lemm | 2016 |
| 100 | Perceived Danger (PD) | perceived danger | affective states, physical vulnerability, ominousness, cognitive readiness | 12 | The perceived danger (PD) scale: development and validation | Molan et al. | 2025 |
| 100 | Perception of Agency (PA) | perceived agency | unidimensional | 14 | The Perception of Agency | Trafton et al. | 2024 |
| 92 | Human robot interaction evaluation scale (HRIES) | anthropomorphism | sociability, disturbance, agency, animacy | 16 | Perception and evaluation in humanrobot interaction: The HumanRobot Interaction Evaluation Scale (HRIES)A multicomponent approach of anthropomorphism | Spatola et al. | 2021 |
| 92 | Perceived Moral Patiency Scale (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 |
| 92 | Scale of Social Robot Anthropomorphism (SSRA) | anthropomorphism | humanlike appearance, self understanding, social intelligence, emotion capability | 20 | Seeing Personhood in Machines: Conceptualizing Anthropomorphism of Social Robots | Chi et al. | 2024 |
| 85 | Dimensions of Mind Perception (MMP35) | dimensions of mind | Positive affect; negative affect; moral cognition; social cognition; reality interaction | 20 | How many dimensions of mind perception really are there? | Malle, B. | 2019 |
| 85 | Machines As Social Entities (MASE) | beliefs in machines as social actors | Social capacity, emotional experience, social legitimacy | 14 | Machines as social entities (MASE) scale: Validation of a new scale measuring beliefs in the sociality of intelligent machine agents | Hong | 2024 |
| 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 | Perceived Moral Agency Scale (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 |
| 85 | Robotic Social Attribute Scale (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 | Robots Rights and Responsibilities (RRR) | robots rights and responsibilities | Right, Responsibilities, Capabilities | 30 | The Robot Rights and Responsibilities Scale: Development and Validation of a Metric for Understanding Perceptions of Robots Rights and Responsibilities | Mays et al. | 2024 |
| 85 | Self efficacy in HRI Scale (SE HRI) | self efficacy | unidimensional | 18 | Development and validation of the self efficacy in human robot interaction scale (SE HRI) | Putten | 2018 |
| 85 | 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 |
| 85 | SEQ (Standardized Embodiment Questionnaire) validated | perceived embodiment | appearance, response, ownership, multisensory | 16 | Avatar Embodiment. A Standardized Questionnaire | Peck and GonzalezFranco | 2021 |
| 85 | Trust in Industrial human robot collaboration | 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 | User Experience Questionnaire (UEQ) | user experience | attractiveness, perspecuity, stimulation, efficiency, novelty, dependability | 26 | Construction and evaluation of a user experience questionnaire | Laugwitz et al. | 2008 |
| 85 | mind perception | heart, body, mind | 40 | Rethinking peoples conceptions of mental life. | Weisman et al. | 2017 | |
| 77 | Attitudes towards robots measure (ARM) | attitudes towards robots | prior anxiety, prior acceptance, prior anthropomorphism | 15 | Attitudes Towards Robots Measure (ARM): A New Measurement Tool Aggregating Previous Scales Assessing Attitudes Toward Robots | Spatola et al. | |
| 77 | EmCorp Scale | perceived embodiment | 20 | The Peculiarities of Robot Embodiment (EmCorp Scale) | Hoffmann et al. | 2018 | |
| 77 | Frankenstein Syndrome Questionnaire (FSQ) | 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 | Dimensions of Mind Perception (Gray Gray Wegner) | dimensions of mind | experience agency | 18 | Dimensions of mind perception | Gray, Gray, Wegner | 2007 |
| 69 | Individual Differences in Anthropomorphizing Questionnaire (IDAQ) | individual differences in tendency to anthropomorphize | anthropomorphism in animals and anthropomorphism in non-animals | 15 | Who sees human The stability and importance of individual differences in anthropomorphism | Waytz et al. | 2010 |
| 69 | Negative Attitudes Towards Robots Scale (NARS) | negative attitudes towards robots | Measurement of negative attitudes toward robots | Nomura et al. | 2006 | ||
| 69 | Partner Modeling Questionnaire (PMQ) | measurement of people's partner models of nonembodied speech interfaces | communicative competence and dependability, humanlikeness in communication, and communicative flexibility | 18 | The Partner Modelling Questionnaire: A validated selfreport measure of perceptions toward machines as dialogue partners | Doyle et al. | 2023 |
| 69 | Robotic Anxiety Scale (RAS) | anxiety toward robots | unclear | 11 | Measurement of Anxiety toward Robots | Nomura et al. | 2006 |
| 69 | Uncanny valley effect | uncanny valley affect | perceived humanness, attractiveness, eeriness | 18 | Measuring the uncanny valley effect: Refinements to indices for perceived humanness, attractiveness, and eeriness | Ho and MacDorman | 2017 |
| 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 |
| 62 | Human robot interaction stress scale (HRISS) | stress in HRI | human related factors; task related factors; robot related factors | 46 | Going Beyond General Stress Scales: Developing a New Questionnaire to Measure Stress in HumanRobot Interaction | Babamiri et al. | 2024 |
| 62 | Multdimensional measure of trust (MDMT) | trust | performance trust and moral trust | 16 | A multidimensional conception and measure of humanrobot trust | Malle, B. and Ullman D. | 2021 |
| 62 | Partner Modeling in Speech Interfaces | partner modeling | partner competence and dependability, humanlikeness, cognitive flexibility | 23 | What do we see in them identifying dimensions of partner models for speech interfaces using a psycholexical approach | Doyle et al. | 2021 |
| 62 | Trust in Automation (TiA) | trust | unidimensional | 19 | Theoretical considerations and development of a questionnaire to measure trust in automation | Korber | 2019 |
| 62 | mind perception | unidimensional | unclear | Evidence of the unidimensional structure of mind perception | Tzelios et al. | 2022 | |
| 46 | Collaborative Fluency | collaborative fluency | not reported | 8 | Evaluating Fluency in HumanRobot Collaboration | Hoffman, G | 2019 |
| 46 | MultiDimensional Robot Attitude Scale (MRAS) | 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 |
| 46 | Psychological Safety | psychological safety | performance, hummaness, acceptable, harmlessness, toughness, and agency | 33 | New Measurement of Psychological Safety for Humanoid | Kamide et al. | 2012 |
| 46 | Subjective Workload Assessment Technique (SWAT) | mental workload | time load, mental effort load, and psychological stress load | 3 | The subjective workload assessment technique: a scaling procedure for measuring mental workload | Reid and Nygren | 1988 |
| 46 | Trust in Automation (TIA) - Jian | trust | unclear | 12 | Foundations for an empirically determined scale of trust in automated systems. | Jian et al. | 1998 |
| 38 | Moral Concern for Robots Scale (MCRS) | moral concern for robots | basic moral concern and concern for psychological harm | 21 | Measurement of Moral Concern for Robots | Nomura et al. | 2019 |
| 38 | NASA Task Load Index (NASA TLX) | workload | mental demand, physical demand, temporal demand, effort, performance, and frustration | 6 | The NASA Task Load Index (TLX) | Hart and Staveland | 1986 |
| 38 | Perceived Empathy (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 | Robot Threat Assessment (RoTA) | mental model of autonomous robot partners | physics-based and psychology-based | 20 | Individual differences in trust in autonomous robots: implications for transparency | Matthews et al. | 2020 |
| 31 | Anthropomorphic Tendencies Scale (ATS) | 36 | Measuring individual differences in anthropomorphism toward machines and animals. | Chin et al. | 2004 | ||
| 31 | HRIWM | workload | task, system, team process, team configuration, context | 5 | Development of the Human Robot Interaction Workload Measurment Tool (HRI WM) | Yagoda | 2010 |
| 31 | Trust Perception ScaleHRI | trust | unclear | 40 or 14 | Measuring Trust in Human Robot Interactions: Development of theTrust Perception ScaleHRI | Schaefer | 2016 |
| 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 |
| 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 | System Usability Scale (SUS) | usability | unidimensional | 10 | SUS A quick and dirty usability scale | Brooke | 1996 |
| 23 | Usefulness, Satisfaction, and Ease of Use Scale (USE) | usability | usefulness, ease of use, satisfaction | 30 | Measuring usability with the USE questionnaire | Lund | 2001 |
| 15 | Mental Models of Robots | mental models | anthropomorphism and mental model richness | unclear | Mental Models of Robotic Assistants | Kiesler and Goetz | 2002 |