Assistance system including a robot for assisting a user in fulfilling a task, the system comprising the robot configured to contribute cooperatively in performing the task cooperatively with the user, a human-machine interface unit for communicating with the user, at least one of at least one visual sensor and an acoustic sensor, and a processor configured to interpret a user input obtained by the human-machine interface unit, and to monitor a task progress by interpreting at least one of the user input and image data acquired by the at least one visual sensor depicting the user, wherein the processor is further configured to generate a support signal based on a generated internal representation and the monitored task progress, and to output the generated support signal to output means (23, 24, 25) of the system or to a robot cooperating with the user, wherein the support signal comprises information how to perform a current step and on manipulating objects and/or parts of objects involved in the current step, wherein the support signal comprises information on manipulating at least one object or information on how to perform the task, and characterized in that the system further comprises a task input unit configured to obtain unstructured knowledge source data on the task, wherein the obtained unstructured knowledge source data comprises at least a manual in written format prepared for a human user, and the processor is further configured to analyze the obtained unstructured knowledge source data for generating the internal representation of the task by subdividing the task into individual steps and arranging the individual steps in a time sequence for sequential and/or parallel execution based on a dependency between the individual steps, and by identifying for each step which object(s) and/or part(s) of object(s) is/are involved in executing the step, the object(s) and/or part(s) of object(s) in particular including tools and/or spare parts, and to determine how the involved object(s) and/or part(s) of object(s) is/are to be manipulated for performing the task, wherein the internal representation of the task comprises at least information on the task the user intends to fulfill, information on objects the user requires for performing the task and individual steps of the task. the robot configured to contribute cooperatively in performing the task cooperatively with the user, a human-machine interface unit for communicating with the user, at least one of at least one visual sensor and an acoustic sensor, and a processor configured to interpret a user input obtained by the human-machine interface unit, and to monitor a task progress by interpreting at least one of the user input and image data acquired by the at least one visual sensor depicting the user, wherein the processor is further configured to generate a support signal based on a generated internal representation and the monitored task progress, and to output the generated support signal to output means (23, 24, 25) of the system or to a robot cooperating with the user, wherein the support signal comprises information how to perform a current step and on manipulating objects and/or parts of objects involved in the current step, wherein the support signal comprises information on manipulating at least one object or information on how to perform the task, and characterized in that the system further comprises a task input unit configured to obtain unstructured knowledge source data on the task, wherein the obtained unstructured knowledge source data comprises at least a manual in written format prepared for a human user, and the processor is further configured to analyze the obtained unstructured knowledge source data for generating the internal representation of the task by subdividing the task into individual steps and arranging the individual steps in a time sequence for sequential and/or parallel execution based on a dependency between the individual steps, and by identifying for each step which object(s) and/or part(s) of object(s) is/are involved in executing the step, the object(s) and/or part(s) of object(s) in particular including tools and/or spare parts, and to determine how the involved object(s) and/or part(s) of object(s) is/are to be manipulated for performing the task, wherein the internal representation of the task comprises at least information on the task the user intends to fulfill, information on objects the user requires for performing the task and individual steps of the task.