This paper presents a human-scale multi-modal virtual environment. User interacts with virtual worlds using a large-scale bimanual haptic interface called the SPIDAR-H. This interface is used to track user’s hands movements and to display various aspects of force feedback associated mainly with contact, weight, and inertia. In order to increase the accuracy of the system, a calibration method is proposed. A large-scale virtual reality application was developed to evaluate the effect of haptic sensation in human performance in tasks involving manual interaction with dynamic virtual objects. The user reaches for and grasps a flying ball. Stereoscopic viewing and auditory feedback are provided to improve user’s immersion