The author describes software and hardware tools he developed for electroacoustic music improvisation. First, he briefly analyses expressiveness in jazz live performance. The second part contains a description of his gesture tracking device systems: TwinTowers and PalmDriver. These systems work with a CCD camera to analyse the hands' postures. The third and fourth parts present his music language based on pure C programming for interactive performance of computer music and his considerations concerning mapping. The fifth part returns to the characteristics of computer music improvisation with his system.