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Just to add some discourse; this is actually an incredibly complex task, as gestures (aka kinematics) function as an auxiliary language that can completely change the meaning of a sentence or even a single word. I recently did a dissertation on the converse (generating the correct gesture from a specific social context & linguistic cues). The factors ...
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This is one of the main research areas of my lab which researches intelligent prosthetics which also give sensory feedback such as touch and kinaesthesia (the feeling of a limb moving in space) to the user. We use reinforcement learning to bridge the gap in control and have preliminary work in communicating to the user predictions made by the artificial ...
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Probably these days it's still under the umbrella of "man-machine interaction" in CS, i.e. there is a (sub-) field for interactions between humans and machines in CS, but I am not aware that it has split again to create a sub-sub-field for AI/man interactions.
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There is some research on this topic. See, for example, the papers Robot Identification and Localization with Pointing Gestures (2018) and Proximity Human-Robot Interaction Using Pointing Gestures
and a Wrist-mounted IMU (2019), by Boris Gromov et al., where the human is assumed to possess an inertial measurement unit (IMU) attached to the arm
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