**5. Experimental results and discussions**

This system uses a standard video camera and 'Robovie' eye's camera for data acquisition. Each captured image is digitized into a matrix of 320 240 pixels with 24-bit color. User and hand pose adaptation method is verified using real-time captured images as well as static images. The algorithm has also been tested with a real world human-robot interaction system using a humanoid robot, 'Robovie' developed by ATR .
