I understand your questions to be specifically regarding androids.
I had always been quite critical of these realistic androids. Having seen them in photos or videos they generally looked quite unappealing to me (irrespective of any technical prowess), and perhaps I found them a bit unnerving. I tended to assume a salacious underlying motive of it's creator. I was pretty dismissive what was being achieved.
THEN I had the chance to see Hiroshi Ishiguro's Kodomoroid at the Science Museum in London England and it totally changed my perspective....
Facing a real android in operation I found myself able to suspend disbelief. Rather than looking critically at the motions, materials or motives - I was immediately and genuinely able to relate to a character. Perhaps much like watching some movies: you know its sets, makeup, acting and CGI - but the over all result is a compelling emotional engagement.
I recall feeling sympathy for Kodomoroid being an exhibit, much like a creature in a zoo. I was hesitant to record video (as I would be with a person). I imagined with pity what it might be like at the end of the day when the lights are turned off and the museum is closed for the night for such an android.
There were several other humanoid robots in the exhibition. They were cool, but none had the same effect of this android.
It was also interesting to watch children interacting with all types of robots. Children seem not to need to distinguish. My daughter had a lovely 'conversation' with Pepper - it struck me how engaged in the interaction she was.
So - I used to think Ishigurosan was a bit of nut-case, however I've revised my opinion based on my experience (albeit a limited experience) - and now I hold his work (and the efforts of others doing similar) in the highest esteem.
There is a lot of money being poured into robotics for two reasons: warfare and capitalism. We want to build killing machines, and we want to produce work more efficiently. Wheras androids to me represent the purest and most artistic application of robot technology. Androids are not going to take your job or kill anyone*
To respond to your specific queries:
What are your initial thoughts on their appearance, how do they make you feel?
Before: Silly, Weird, Awkward, Cheap
Now: Great, Compelling, Engaging
Are these robots how you imagine a robot to look like, if no, how do you imagine robots to look?
Robots look like robots (eg R2D2, or industrial robots), Humanoids look, well, like human shape, and Androids should look like humans.
Do you think designing the appearance of robots on real humans is a good thing?
Yes, sure. Why not. I certainly don't think its a bad thing.
Do you feel threatened by these robots in terms of their human appearance?
No. They're generally designed not to behave or look threatening.
Do these type of robots scare you?
No. It's going to be quite some time before an android can creep up on you. Ask me again then.
[*Well, not for a while]