Apple iPod Classic (first video ipod and lower), TI-84/89/+ Calculators, iPhone, iPod Touch, and a wide variety of Android devices all have free software-based jailbreaks. You will have to use google if you want those, and someone else will have to answer for dedicated USB jailbreak devices.
When the console is jailbroken, put the open manager .pkg file right on a usb stick, put it in the ps3 and select game > install packages