Patrik Gustavsson, Magnus Holm, Anna Syberfeldt, Lihui Wang: Human-robot collaboration – towards new metrics for selection of communication technologies
For use in Industrial IoT (IIoT), especially for communication between several robots, e.g. as a robot team, the protocol was developed on the MAC layer in the form of a schedule matrix and specified as the IEEE 802.15.4e standard. See for this:
I think to measure any human robot interface qualitatively we can take a survey where we lay down a set of user-interface questions and ask the user after he/she has used the semi-autonomous human robot interface.
One such good survey is the questions posed by NASA TLX