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The industrial revolution did not take the environment into consideration when designing products. However, today the eco-friendly design of products is a task that gets more visibility due to the great quantity of industrial waste generated to finalize the useful life of items such as household appliances, electronic and mechanical products, etc. In order to accomplish this objective of waste reduction generated by the products, governments are introducing laws that promote and compel the product recycle; this recycling includes a profit, however small, by the reuse of components.

New low cost sensors and the new open free libraries for 3D image processing are permitting to achieve important advances for robot vision applications such as tridimensional object recognition, semantic mapping, navigation and localization of robots, human detection and/or gesture recognition for human-machine interaction. In this paper, a method to recognize the human hand and to track the fingers is proposed. This new method is based on point clouds from range images, RGBD. It does not require visual marks, camera calibration, environment knowledge and complex expensive acquisition systems. Furthermore, this method has been implemented to create a human interface in order to move a robot hand. The human hand is recognized and the movement of the fingers is analyzed. Afterwards, it is imitated from a Barret hand, using communication events programmed from ROS. ; This work was supported in part by the Valencia Regional Government and the Research and Innovation Vice-president Office of the University of Alicante for their financial support through the projects GV2012/102 and GRE10-16, respectively.

A fully integrated development tool for computer vision systems has been built in the framework of this paper. There are many applications that helps the user in the design of such systems, using graphical interfaces and function libraries. Even in some cases, the find source code can be generated by these applications.This paper goes a step beyond;it allows the development of computer vision systems from a distributed environment. Besides, and as distinctive characteristic with regard to other similar utilities, the system is able to automatically optimize task scheduling and assignment, depending on the available hardware. ; This work was supported by the Spanish Government through CICYT in the framework of project TAP-96-0629-C04-01.