Body segment parameters are used in many different applications in ergonomics as well as in dynamic modelling of the musculoskeletal system. Body segment parameters can be defined using different methods, including techniques that involve time-consuming manual measurements of the human body, used in conjunction with models or equations. In this study, a scanning technique for measuring subject-specific body segment parameters in an easy, fast, accurate and low-cost way was developed and validated. The scanner can obtain the body segment parameters in a single scanning operation, which takes between 8 and 10 s. The results obtained with the system show a standard deviation of 2.5% in volumetric measurements of the upper limb of a mannequin and 3.1% difference between scanning volume and actual volume. Finally, the maximum mean error for the moment of inertia by scanning a standard-sized homogeneous object was 2.2%. This study shows that a low-cost system can provide quick and accurate subject-specific body segment parameter estimates.