In industrial human-robot collaboration, variability commonly exists in the operation environment and the components, which induces uncertainty and error that require frequent manual intervention for rectification. Conventional teach pendants can be physically demanding to use and require user training prior to operation. Thus, a more effective control interface is required. In this paper, the design and evaluation of a contactless gesture control system using Leap Motion is described. The design process involves the use of RULA human factor analysis tool. Separately, an exploratory usability test was conducted to compare three usability aspects between the developed gesture control system and an off-the-shelf conventional touchscreen teach pendant. This paper focuses on the user-centred design methodology of the gesture control system. The novelties of this research are the use of human factor analysis tools in the human-centred development process, as well as the gesture control design that enable users to control industrial robot’s motion by its joints and tool centre point position. The system has potential to use as an input device for industrial robot control in a human-robot collaboration scene. The developed gesture control system was targeting applications in system recovery and error correction in flexible manufacturing environment shared between humans and robots. The system allows operators to control an industrial robot without the requirement of significant training.