Developing multimodal virtual reality simulations, serious games, or interactive media, requires interdisciplinary teams responsible for the technological, artistic, and instructional content development and integration. In medical simulation, virtual reality allows developing interactive and immersive simulations that can be used to complement current training tools including printed, multimedia, and manikin simulators. One of the major limitations associated with virtual reality is the lack of haptic feedback given the complexity and requirements of high-end systems. In this paper, we present the design and prototyping of three prototype virtual reality tools employing immersive headsets integrated with low and medium-grade haptic devices employed for developing a virtual reality epidural insertion tool within the scope of a Colombia-Canada joint graduate course on virtual and augmented reality.