The RESTART project aims at designing and developing a new human-robot interactive paradigm, in which the robot is humanized thanks to empowered AI-based social and cognitive abilities based on the concept of theory of mind and mutual-understanding in order to improve the acceptability of robots especially in assistance scenarios, where higher legibility and conformity to cognitive and emotional aspects of the social interaction are required. The innovative aspect of RESTART project lies in the proposal of a new approach in the design of interactive human-robot systems based on the humanization of the robot through a new paradigm based on bidirectional proactive communication and mutual affective understanding that takes into account not only the possibility for a robot to interpret the observable behaviors and internal/emotional states of humans with the aim of anticipating the next human re/actions, but also to facilitate humans in the interpretation of the robot state, intentions and future actions through legible behavior designed around the emotional dimension of the communication.