This paper presents a characterization of computer-based interactions by which learners can explore and investigate visual mathematical representations (VMRs). VMRs (e.g., geometric structures, graphs, and diagrams) refer to graphical representations that visually encode properties and relationships of mathematical structures and concepts. Currently, most mathematical tools provide methods by which a learner can interact with these representations. Interaction, in such cases, mediates between the VMR and the thinking, reasoning, and intentions of the learner, and is often intended to support the cognitive tasks that the learner may want to perform on or with the representation. This paper brings together a diverse set of interaction techniques and categorizes and describes them according to their common characteristics, goals, intended benefits, and features. In this way, this paper aims to provide a preliminary framework to help designers of mathematical cognitive tools in their selection and analysis of different interaction techniques as well as to foster the design of more innovative interactive mathematical tools. An effort is made to demonstrate how the different interaction techniques developed in the context of other disciplines (e.g., information visualization) can support a diverse set of mathematical tasks and activities involving VMRs.