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Human computer interaction (HCI) systems are increasing due to the demand for non-intrusive methods for communicating with machines. In this research article, vision based hand gesture recognition (HGR) System has been proposed using machine learning. This proposed system consists of three stages: segmentation, feature extraction and classification. The developed system is to be trained and tested using Sebastian Marcel static hand posture database which is available online. Discrete wavelet transform (DWT) along with modified Speed Up Robust Feature extraction technique has been used to extract rotation and scale invariant key descriptors. Then Bag of Word technique is used to develop the fixed dimension input vector that is required for the support vector machine. The classification accuracy of class 2 and class 4 which corresponds to the 'No' and 'grasp' gesture has reached 98%. The overall classification accuracy of the HGR system using SVM classifier is 96.5% with a recognition time of 0.024 s. Due to fast recognition time, this system can be employed in real time gesture image recognition system. Our HGR system addresses the complex background problem and also improves the robustness of hand gesture recognition. [ABSTRACT FROM AUTHOR]