The aim of this paper is to study to what extent the current state-of-the-art in human-machine cooperation can be applied or adapted in the emerging context in Industry 4.0 where the “machines” are autonomous cyber-physical systems with whom the cooperation is done. A review of 20 papers has been realized. A discussion is made, pointing out the advances and limits of existing state-of-the-art applied in the context of autonomous cyber-physical systems. An illustration in the domain of the maintenance phase of an autonomous cyber-physical system is provided to explain the conclusions of our review.