By focusing on the challenges and promise of collaborative roboticsCollaborative robotics (cobotics), the paper poses the communicative dimensions of human movementHuman movement, introducing the concept of mastery and examining the psychological aspects of collaborative scenarios. Transitioning to computational modelingComputational modeling, it discusses classical methods that provide technical insights into approximately modeling human movementHuman movement, which provides visions into utilizing these models to enhance the intelligibility of robots during their interactions with humans. This work includes results of applied experiments, detailing the evaluation of walking through step estimation and foot position detection during assisted ambulation, bridging theoretical discussions with real-world applications. Blending history, theory, and practical insights provides a comprehensive exploration of the dynamic realm of human–robot interactionHuman-robot interaction and computational modelingComputational modeling.