Human-aware robot navigation planning enables robots to traverse human-occupied spaces socially. However, evaluating and benchmarking the 'human awareness' of such navigation schemes is challenging. With the growing necessity and research interest in the field, there is a need to define metrics to quantify and benchmark such qualities. In this regard, this paper proposes a set of metrics by looking at the problem from a new perspective. These proposals are made by inspecting the robot's navigation from the viewpoint of a human experiencing it and then defining proxies for the perceived human feelings. Analyses of some commonly occurring humanrobot navigation scenarios using these metrics show their capability in benchmarking and differentiating human-aware robot navigation from standard robot navigation.