Effective communication between humans and collaborative robots is essential for seamless Human-Robot Collaboration (HRC). In noisy industrial settings, nonverbal communication, such as gestures, plays a key role in conveying commands and information to robots efficiently. While existing literature has thoroughly examined gesture recognition and robots' responses to these gestures, there is a notable gap in exploring the design of these gestures. The criteria for creating efficient HRC gestures are scattered across numerous studies. This paper surveys the design principles of HRC gestures, as contained in the literature, aiming to consolidate a set of criteria for HRC gesture design. It also examines the methods used for designing and evaluating HRC gestures to highlight research gaps and present directions for future research in this area.

翻译：有效的人机沟通对于实现无缝人机协作至关重要。在嘈杂的工业环境中，手势等非语言交流在高效地向协作机器人传递指令和信息方面发挥着关键作用。尽管现有文献已深入探讨了手势识别及机器人对手势的响应，但在手势设计方面仍存在显著研究空白。关于创建高效人机协作手势的标准散见于众多研究中。本文综述了文献中涉及的人机协作手势设计原则，旨在整合一套手势设计准则。同时，本文还考察了人机协作手势的设计与评估方法，以揭示研究空白并呈现该领域的未来研究方向。