Many authors are introverts who find it difficult to interact with fans face to face, yet this is usually the most effective connection. One way to help you overcome this is to join your local Toastmasters International club.
Being succinct when talking about your book is not always easy for authors who are used to using thousands of words to tell their story. Toastmasters will teach you to make your point directly and quickly as well as how to initiate conversations and sustain them. Check their website for the club nearest where you live.