M. Hasanuzzaman Tao Zhang Vuthichai Ampornaramveth H. Gotoda Yoshiaki Shirai Haruki Ueno Adaptive visual gesture recognition for human-robot interaction using a knowledge-based software platform. 643-657 2007 55 Robotics and Autonomous Systems 8 http://dx.doi.org/10.1016/j.robot.2007.03.002 db/journals/ras/ras55.html#HasanuzzamanZAGSU07