PHANTOM haptics devices and GHOST API allow users to touch and manipulate 3D data. Also the FreeForm is an important 3D modelling tool which is haptically enabled, using a PHANTOM® Omni™ device (a high end haptic device). http://www.sensable.com/
Immersion Corporation's Force Feedback systems. Immersion makes the haptic mouse, high quality haptic joysticks and a haptic laparoscopic surgery simulation device. http://www.immersion.com/
The MIT Touchlab aims to understand human haptics, develop machine haptics, and enhance human-machine interactions in virtual reality systems. http://touchlab.mit.edu/
ReachIn Technologies produce integrated haptic and graphic systems. They make display systems and produce the haptic and graphic API Magma. http://www.reachin.se/
The haptics community web pages have a good selection of research papers, particularly on hardware. The page does not seem to be maintained however. http://haptic.mech.northwestern.edu/
McGill Center for Intelligent Machines Haptics Laboratory works on the engineering and design of interfaces that use touch during interaction with information systems. http://www.cim.mcgill.ca/~haptic/