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For weapons, they need at least one of the correct ammo type to use the weapon you equip to them.
might be a different key on controller, but it shows it on the bottom.
The screen will throw you off, because it shows YOUR character for the character model, but as long as you are in the companion's inventory, it will be the companion that equips it.
Edit to add: Also, for guns, make sure you also give them ammo. They will not actually use up the ammo, but they do need to have it to use the gun.
However you put the item into their inventory, equip it with B, and then they should use it. For equipment they rarely use their best armour unless they are outside a normal atmosphere or they are in a location with no friendlies.
Honestly just equip them with what you'd like.
Who pissed in your Cherrios?