Handover actions describe the action when an object is handed over from one actor (human/robot) to another. A requirement for a smooth handover action is precise coordination between the two actors in space and time. Part of a handover action are reach and grasp movements. In order to be able to perform adequate reach and grasp movements, precise models regarding the object properties are necessary, only then anticipatory grip force scaling can take place. It is possible that receivers in handover actions observe the giver during object manipulation in order to estimate the object weight more accurately. Knowledge about the change in kinematics due to object weight in handover actions can be used to improve human–robot interactions by providing robots with better weight estimation through prediction based on human kinematics. The aim of this study was to investigate whether predictions about the object weight can be achieved from the kinematics of the giver in a handover action. Furthermore, the aim was to analyze which joint angles are particularly suitable for classifying the object weight (i.e., are most influenced by the object weight).