Within each group, we trained two subjects to communicate with Gestonurse before performing the procedure, then asked them to repeat each command 15 times. We then read the name of the recognized instrument to the subject through a text-to-speech program, Microsoft SAM text-tospeech. We similarly conducted training for gesture recognition, with each test subject repeating each gesture 15 times and shown a bar graph with the log-likelihood score of the gesture for each gesture class