Within the field of Robotics, human-robot interaction and cooperation are fascinating topics with important real-world applications. The objective is to build robots capable not only of safely sharing the environment with a human but also of actively interacting with the person to jointly accomplish tasks. The main challenges are meeting safety requirements and making the interaction feel as natural as possible, so that the robot can easily integrate in the human workflow. Recent advancements in machine learning have made it easier and more convenient to develop such solutions. They provide powerful computer vision algorithms which require only camera sensors to operate.