This paper introduces a novel framework for the modelling and interactive simulation of ancient Greek technology works with the use of advanced virtual reality technologies. A novel algorithm is introduced for the realistic and efficient resolution of collisions that is based on an advanced collision detection approach that can also calculate in real-time the force that should be fed back to the user using a haptic device. Thus, the user is capable of manipulating the scene objects in the environment using haptic devices to simulate the sense of touch and stereoscopic imaging so as to be immersed in the virtual environment. Moreover, the virtual hand that simulates the user's hand is modeled using superquadrics so as to further increase the speed of the simulation and the fidelity of the force feedback. Extended evaluation of the system has been performed with visitors of the Science Center and Technology Museum of Thessaloniki.