A remote control apparatus for communicating with a target device includes: a sensing portion for sensing points of user contact with the apparatus, user gestures, and an acceleration value of the apparatus; a transmitting device for sending signals representative of user commands to the target device; a controller; and a memory including instructions for configuring the controller to perform a self-orientation process based upon at least one of the acceleration value and the points of user contact to determine a forward direction of a plane of operation for defining the user gestures. An axis of the determined plane of operation substantially intersects the apparatus at any angle.