In the Virtual Reality field, force-feedback interfaces called haptic interfaces can simulate tactile and kinesthetic interactions. Bi-manual haptic interactions can better immerse users in virtual worlds than one hand interactions and more tasks can be realized such as parallel or precision tasks. Only a few studies deals specifically with bi-manual haptic interactions and previous work mainly extends uni-manual techniques directly to two hands. The document reports possible lacks of bi-manual-specific management of real and virtual workspace and the lack of genericity of solutions using haptic interfaces. The study on bi-manual haptic interactions led to the realization of a framework allowing to use simultaneously several haptic devices. This framework simulates a 3D virtual world coupled with a physical simulation. We realized new specifically bi-manual haptic interaction techniques allowing to control camera, to extend the virtual workspace by a hybrid position/rate control and to help bi-manual pick and place task. The document point out issues such as collision between haptic devices and unification of two different haptic interfaces.