Lacking arms; without weapons; also, having no arms of a chair or similar furniture.
From Old English earmleas, combining 'arm' with the suffix '-less' meaning 'without,' forming a straightforward descriptive adjective used since medieval times.
An 'armless chair' is actually more comfortable for fitting under desks and tables—designers discovered that removing the arms made furniture way more practical than the original fancy high-backed thrones!
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