Haptics and OSC

There is an interesting haptic API being developed. Is anyone using haptic devices devices with OSC such as the Phantom?

Phantom Omni

I struggled with a Phantom Omni this spring when I was at McGill, and got it to work with an OSC-wrapper written by Charles Verron. I never had the time to use it much, but I think Charles made a project using it. I also now that Stefania Serafin and some of her students have been working with an Omni in Copenhagen.

While the Phantom products are rather expensive, this thing seems very promising:

Phantom Haptics...

I swapped some email with this company about a year ago. The devices are very expensive, and they didn't seem interested in donating.

I think they look very interesting for musical interaction, though.