How has no one brought up the main issue: With our current torso design the arms would have no 'resting state' and would therefore constantly be exerting energy while our bodies were upright causing constant fatigue.
One pair would have to come from our sholderblades, able to rest them over the shoulders and out of the way while not in use, freeing the lower pair to be used.
If you think about human physiology this makes the most sense for adaptation, since having the arms come from on high would allow for intricate work right in from of our faces. More suited to human adaptation, whereas a second pair of arms coming from the lower torso would have evolved from sheer workhorse adaptation.
I believe it would come down to having a weaker but more dexterous pair of arms from above our current set, or stronger force-centric arms below our current pair which also could cause potential fatigue.