The CB6000 is a good choice for a cage also. I have worn the "s" model for extended periods of time in the past, and honestly once I got used to it, I felt very comfortable in it, and I didn't like to spend much time not wearing it. As for excapability, I really needed a smaller cage, but I was already wearing the smallest model they had.
It's not for everyone, but I feel that it really lets everyone involved know their place in the relationship.