The paper describes a 3D mouse for interacting with virtual objects appearing on a computer display. The 3D mouse consists of a body configured to be moveable on a surface, representing the reference plane of 3D graphics, and has a position sensor for producing a main position signal. A number of probe members are connected to the body, each of which are coupled with a transducer for producing probe position signals representative of the position of the probe member. An actuator is coupled to each probe member to apply force selectively to the probe member. A control system is coupled to the position sensor, the transducers and the actuators, and configured to provide the processor with the main position signal and the probe position signals and to receive information from the processor relating to a surface displayed in order to produce control signals for controlling the force applied to each of the probe members.