This research introduces a wax form-finding system integrating robotic arm control with artificial intelligence-based gesture recognition. Traditional form-finding methods often suffer from unpredictability and excessive material waste. In contrast, the proposed system combines intuitive, gesture-driven interaction with the precision of robotic manipulation, enabling designers to shape wax by hand gestures remotely. The designer’s gestures are interpreted in real time through Artificial Intelligence-powered image recognition and transformed into commands for the following manufacturing stages. This method significantly reduces material waste, production time and energy consumption compared to conventional 3D printing. Preliminary experiments indicate a material utilisation efficiency of 90%, a reduced total production time, and an 88% reduction in energy use. Furthermore, material recovery rates are significantly high, between 95% and 98%. These findings underscore the environmental advantages of the proposed system. Overall, this research demonstrates the potential of integrating robotics, Artificial Intelligence, and a sustainable material (plant-based wax) in product design and manufacturing, providing a practical contribution to the circular economy.