In this paper, a method of handshapes recognition based on skeletal data is described. A new feature vector is proposed. It encodes the relative differences between vectors associated with the pointing directions of the particular fingers and the palm normal. Different classifiers are tested on the demanding dataset, containing 48 handshapes performed 500 times by five users. Two different sensor configurations and significant variation in the hand rotation are considered. The late fusion at the decision level of individual models, as well as a comparative study carried out on a publicly available dataset, are also included.