“…Table 2 summarizes some works that use specific objective metrics, such as success rate [70,77,89,108,109,[113][114][115], interaction force [72,90,91,116,117], timings [70,80,87,110,114,[118][119][120][121], joint effort [109] and subjective metrics, such as fluency [70,80,87,110,114,[122][123][124], satisfaction [109,113,115,123,125,126], comfort [91,109,115,121,124,126,127], usage of interaction [90,109,113,115,125,…”