We are still in the process of making our design easy to fabricate. The option that requires the least thought is to 3D-print the whole assembly, but that option is expensive. The department charges $5.50 per cubic inch to 3D-print for senior design. This cost includes support material. Using the insight software, we find that the design uses 6.53 cubic inches of support material. Printing the design solid would be 24.29 cubic inches whereas printing it sparse would be  14.08 cubic inches. These would cost $169.51 and $113.36 respectively.
2014_haptic

One option to reduce cost is to mill the design, however the plastic stock we need would cost $89.39 from McMaster-Carr. We could look at wood, but a FEA would need to be performed to ensure that novel materials such as balsa wood would support the load from a hand gripping at 400 Newtons.