Nowadays, one of the most challenging problems in Human-Robot Interaction (HRI) is to make robots able to understand humans to successfully accomplish tasks in human environments. HRI has a very different role in all the robotics fields. While autonomous robots do not require a complex HRI system, it is of vital importance for service robots. The goal of this thesis is to study if behavioural patterns that users unconsciously apply when interacting with a robot can be useful to recognise the users’ intentions in a particular situation. To carry out this study a prototype has been developed to test in an automatic and objective way, if those interaction patterns performed by several users in the area of service robots are useful to recognise their intentions and disambiguate unclear situations.