Any choice would be good, babylocks are wonderful, I have the espire and love love it. The audrey is real small and light, probably a good choice for piecing, and taking to classes, but i do believe the harp is very small so machine quilting might be a little more difficult on it. I think the grace is brothers project runway machine I think, which are supposed to be more heavy duty and get very good ratings. I am not sure about the other 2 models, but from what most people say when you get the small embroidery machines, the size is very limited and most people want more. Its best to consider what is better for your needs.