The study of Human-Robot Interaction (HRI) aims to create close and friendly communication between humans and robots. In the human-center HRI, an essential aspect of implementing a successful and effective HRI is building a natural and intuitive interaction, including verbal and nonverbal. As a prevalent nonverbally communication approach, hand and arm gesture communication happen ubiquitously in our daily life. A considerable amount of work on gesture-based HRI is scattered in various research domains. However, a systematic understanding of the works on gesture-based HRI is still lacking. This paper intends to provide a comprehensive review of gesture-based HRI and focus on the advanced finding in this area. Following the stimulus-organism-response framework, this review consists of: (i) Generation of human gesture(stimulus). (ii) Robot recognition of human gesture(organism). (iii) Robot reaction to human gesture(response). Besides, this review summarizes the research status of each element in the framework and analyze the advantages and disadvantages of related works. Toward the last part, this paper discusses the current research challenges on gesture-based HRI and provides possible future directions.

翻译：人类-机器人互动(HRI)研究的目的是在人类和机器人之间建立密切和友好的交流。在人文中心HRI中,实施成功和有效的HRI的一个基本方面是建立自然和直觉的交流,包括口头和非口头的交流。作为一种普遍的非语言交流方式,在日常生活中,手和臂手势的交流无处不在。关于手势式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式型式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式式