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The somatosensory system of Kinect is used to realize the hand gesture recognition involving static hand gesture and action. A<jats:italic>K<\/jats:italic>-curvature based convex detection method is proposed to fit the hand contour with polygon. In addition, the hand action is completed by using the NiTE library with the framework of hand gesture recognition. In addition, the proposed method is compared with BP neural network and template matching. Furthermore, taking advantage of the information of the depth map, the interface of hand gesture recognition is established for human machine interaction of rescue robot. 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