As the adoption of robotics becomes widespread and vital across diverse sectors and populations, such as industrial, military, medical, and emergency response domains, there is an even more pressing need to facilitate better and safer decisions and heighten operational oversight to ensure operational efficiency. This paper proposes a Human-Centered Framework for Human Robot Collaboration that considers collaboration on four distinct levels, namely operational, tactical, strategic, and institutional. From the bottom, we believe the operational level caters to real-time teamwork between people and robotic agents for a myriad of scenes across both indoor and outdoor scenarios. It also considers the various dynamics in terms of human-to-robot ratio on a collaborative level across these fields, such as factory assembly lines, military, and medical emergency units. The tactical level uses predictive and prescriptive algorithmic solutions that serve to adapt and adjust the levels of collaboration operationally from data insight, but also to provide tactical unit strategies that improve oversight capabilities on ongoing operations. The Strategic level takes the required data flows from these scenarios to provide direction to the various operations that occur at the operational. The strategic level also leverages real-time support from the tactical level for long-term planning. This also caters to system-wide adaptability and research and development to implement the policies from the institutional layer and enhance levels below it. Finally, the proposed apex of the hierarchy, the institutional layer, incorporates ethical and fairness guidelines, safety standards, and other forms of regulations to drive policy direction that trickles down and translates all lower layers to ensure sustainable and responsible HRC integration. By incorporating human-centered principles at all levels. This framework seeks to organize research and developmental efforts to improve operational efficiency holistically and enhance safety and adaptability across complex, evolving systems. Initial research ideas for future work are proposed based on this framework to validate and extend in the areas of Human-robot decision-making and critical cognitive conditions using cognitive and physical interface technologies.