How cozy and cushiony a person judges a particular object to be is measured with three, nine-point semantic differentials. Although “comfortable” can be thought of in emotional or social terms, this scale is most suited for use when rating physical objects, particularly ones that can be sat or laid on, e.g., chairs, sofas, beds.
This scales book is a classic in psychometrics. It is instrumental for survey researchers in the fields of advertising, marketing, consumer psychology, and other related fields that rely largely on attitudinal measures. My copy has gotten me through years of field research by helping provide testable, reliable scales.