One way to maintain communication is to use emails and random calls to check with employees on how they feel in terms of security and mental health. Emergency contact details can be sent to them frequently, assuring them of company support at all times.
At a later stage, a series of questionnaires can be sent to employees via email regarding the challenges they face at work and in handling their personal lives at home, as home is now also their office space.
At my company, we have been interacting with employees to understand how they feel working from home. The main issue highlighted to us was poor internet connectivity, which causes them to work extra hours to complete tasks that used to take less time at the office. Our technical team conducted research and recommended the best service providers in each area. The company has tie-ups with them, and reimbursements for upgrading to certain packages of higher bandwidth have been offered. For employees in areas where no good service provider could be identified, their supervisors have been asked to plan for flexibility in their productivity targets.