Abstract: Today, most haptic devices are designed for desktop applications. Therefore, when dealing with human-scale virtual environments, haptic interaction usually remains limited to only a small portion of the virtual world. This paper describes novel technologies aimed at addressing this issue. We investigate hardware solutions, with the design of devices offering a large workspace, as well as software solutions, with the description of a new interaction paradigm called haptic hybrid control. First evaluations demonstrate encouraging results and suggest that such solutions are relevant, depending on the targeted application.