My research project is about intention prediction for handheld robots. The vision of a handheld robot frames an intelligent power tool which has task knowledge and is therefore capable of guiding its user through a task. Earlier work demonstrated that this type of robots enables the combination of human and robot capabilities. While navigation and obstacle avoidance is easy to do for humans, robots outperform their speed and accuracy. At the same time, it occurred that the plan of the robot conflicted with the intention of its user. Therefore, we investigate how the user intention can be predicted and how the robot’s plans can be communicated effectively in order to enhance human-robot interaction for handheld robots.