Choosing a haptic device

In the last ten years, many haptic devices appeared proposing different features such as number of degrees of freedom, number of force-feedback, accuracy/resolution, workspace, maximum force level, stiffness...
This increasingly sophisticated devices, present as a drawback, an increasing price, making them less affordable for young researchers especially in developing countries. 
For example, this device below is the Omega.3 designed by Force Dimension with the following features :

workspace 160 x 110 mm 

forces 12.0 N

resolution < 0.01 mm

stiffness 14.5 N/mm

dimensions 270 x 300 x 350 mm

costs EUR 16,316.

Otherwise a similar device, less precise, with low cost materials, which is Novint Falcon with the following specifications :

Workspace 4" x 4" x 4" 
Force Capabilities > 2 lbs 
Position Resolution > 400 dpi
Quick Disconnect Handle < 1 second change time
Communication Interface USB 2.0
Size 9" x 9" x 9"
costs EUR 170 / $279.95


So with Falcon, there is a chance to do research on haptics!