Abstract: Background: Systems for range of motion (ROM) measurement such as OptoTrak, Motion Capture, Motion Analysis, Vicon, and Visual 3D are so expensive that they become impracticable in public health systems and even in private rehabilitation clinics. Telerehabilitation is a branch within telemedicine intended to offer ways to increase motor and/or cognitive stimuli, aimed at faster and more effective recovery of given disabilities, and to measure kinematic data such as the improvement in ROM. Materials and Methods: In the development of the RehabGesture tool, we used the gesture recognition sensor Kinect (R) (Microsoft, Redmond, WA) and the concepts of Natural User Interface and Open Natural Interaction. Results: RehabGesture can measure and record the ROM during rehabilitation sessions while the user interacts with the virtual reality environment. The software allows the measurement of the ROM (in the coronal plane) from 0 degrees extension to 145 degrees flexion of the elbow joint, as well as from 0 degrees adduction to 180 degrees abduction of the glenohumeral (shoulder) joint, leaving the standing position. The proposed tool has application in the fields of training and physical evaluation of professional and amateur athletes in clubs and gyms and may have application in rehabilitation and physiotherapy clinics for patients with compromised motor abilities. Conclusions: RehabGesture represents a low-cost solution to measure the movement of the upper limbs, as well as to stimulate the process of teaching and learning in disciplines related to the study of human movement, such as kinesiology Ver menos