Cellulo, as tabletop tangible robots, are a great tool for interactive learning and upper limb rehabilita-tion. For the moment, the main way of interaction is to take them in hand and move them in the plane.Thus, due to the laws of physics, the different gestures induced are mainly constrained to be in 2D andthe workspace is bounded by the length of the arm. More precisely, for upper limb rehabilitation, itlimits the solicitation of certain arm joints, for instance the shoulder absduction/adduction. In orderto overcome these limitations, the idea was to use two wristbands with sensors to consider the armsof the user as a remote control. For the rehabilitation part, this would allow the patient to train thejoints of his arm with greater amplitude. But more generally, this new mean of interaction with theCellulo allows more possibility in the creation of activities.This semester project studied two different aspects: pointing direction and gesture recognition. Thefirst could be used by the game Master to change the behavior of some robots in order to adapt to thesituation. And the second could be destined to control a swarm of robots. The governing principle ofthis semester project was to implement systems as light and easy to use as possible.