This chapter delves into the core elements of human-robot interaction, examining the interplay between human cognitive capabilities, robot autonomy, and the interfaces that bridge these two in sophisticated ways. Starting with a foundational understanding of the human side, this chapter explores how sensory inputs, cognitive factors, and human intention prediction inform interaction design, allowing robots to respond more intuitively to human needs. This chapter then transitions to the robotic side, discussing varying autonomy levels and how they shape interaction, from fully human-controlled teleoperation to fully autonomous actions. Special attention is given to shared autonomy, a paradigm that combines human and robot control to reduce cognitive load, particularly in remote interactions with challenges, such as limited situational awareness. To facilitate trust - critical in human-object interaction - the chapter discusses methods to build transparency and reliability through multimodal communication, real-time feedback, and behaviour adaptation. Together, these insights provide a comprehensive view of the future of human-machine collaboration, emphasising effective, anticipatory interaction.