Robotic systems have progressed from isolated, pre-programmed manipulators to adaptive, learning agents capable of close collaboration with humans. This evolution outpaces most established Human–Robot Interaction (HRI) taxonomies and leaves design teams without a concise, human-centered method for specifying next-generation interactions. We present the Interaction Blueprint, a diagrammatic framework that merges service-design blueprinting with refined HRI concepts. Each task step is plotted on dual physical and cognitive axes and annotated across five layers—Activity, Role, Ability, Autonomy, and Authority—thereby linking user skills and decision prerogatives to robotic capabilities at the earliest design stage. The blueprint translates abstract taxonomic insights into a practical canvas for multidisciplinary teams and offers a scalable foundation for forthcoming empirical validation and metric integration.