Human–machine systems (HMS) represent symbiotic systems that harness the strengths of machines and humans to perform diverse activities or tasks. The evolution of HMS within the manufacturing landscape has undergone significant transformations along with industrial revolutions. This paper traces this historical evolution through five industrial revolutions and pivotal milestones, aiming to explore paradigm shifts in HMS. The resultant concept of human–machine synchronization (HMSync) is outlined and concretized in line with the Industry 5.0 (I5.0) initiative, that is, to put human well-being at the center of the production process and ultimately achieve human-centric smart manufacturing in the future. In order to realize HMSync, a real-time data-driven hyper objects orchestrating reference architecture for HMSync (RHYTHMS) is introduced. The impact of HMSync on manufacturing transformation and the resulting benefits are substantiated by representative research findings and manufacturing practices. Finally, this paper concludes with a comprehensive summary and outlines prospects for future research endeavors.