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I think your question may be too general to get good feedback. It's like considering all the ways a story might end, in general. It really depends on the story itself: the plot, the themes the author illustrates, the tone of the story, etc.. I don't know enough about your story with the halflings and the machines to suggest anything appropriate.
What are your goals with the story?
If you want ideas, you could browse through all the story archives and see what other authors do sometimes, in similar stories.
I'd probably end it after one or two fairly intense sessions (preferably concentrating on all parts of the body instead of just the feet) with a statement of something like "Now we'll see how it works on Level 2" leaving that one to the imagination of the readers.
The mistress had placed the girls in a magicial device that was powered by the frustration of its captives, so the mistress experimented on the girls one by one testing their ticklish areas untill she grew bored, then an idea strikes her, if frustration powers the device what would happen if I add sexual taunting and arousal to the mix ??????? well I leave the rest to you hope this helped.
Rabo23