A gesture from hands and fingers have rich meanings in communication even without a word of sound. It would be very useful if a computer can understand a hand gesture. Hence, we can use a hand gesture to communicate with a robot and perform certain activities. This study focuses on tracking the position of each fingertip and palm to make a computer knows the gesture of a hand. The proposed solution was initially implemented using a MS Kinect camera while capturing a depth image of a human hand. Then, we applied some image processing algorithms to track the positions of fingertips. Finally, the result was visualized in a real-time 3D hand model based on the movements/signs given by a human hand. The experiment results indicate that the proposed approach can literally track the positions of a fingertip.
