  In this paper a neuro-robotics model capable of counting using gestures is
introduced. The contribution of gestures to learning to count is tested with
various model and training conditions. Two studies were presented in this
article. In the first, we combine different modalities of the robot's neural
network, in the second, a novel training procedure for it is proposed. The
model is trained with pointing data from an iCub robot simulator. The behaviour
of the model is in line with that of human children in terms of performance
change depending on gesture production.
