The RESTART project aims to revolutionize human-robot interaction by enhancing AI-driven social and cognitive abilities, promoting mutual understanding and empathy. This approach aims to enhance robot acceptability, particularly in assistance scenarios, by aligning with human cognitive and emotional aspects. RESTART addresses these challenges by proposing a novel approach that integrates insights from clinicians and psychologists and enables robots to interpret human behaviour and emotions bidirectionally. This proactive communication model facilitates adaptive interaction and enhances user acceptance.