Habits and rituals play a fundamental role in human life [1] and are worthy to be considered also because they represent a form of embodied knowledge. According to Dubray [2], habits can be studied in general, but also with the focus on their physiological, psychological, ethical, pedagogical, philosophical and theological aspects. They have been analyzed mostly by disciplines like anthropology, sociology and psychology. Nowadays, the importance of habits is recognized in the development of robotics, where the problem is to help elderly or sick people to continue their ordinary life and practices.