1. Department of Otolaryngology Harvard Medical School Boston Massachusetts U.S.A.
2. Department of Otolaryngology Brigham and Women's Hospital Boston Massachusetts U.S.A.
3. Department of Robotics Engineering Worcester Polytechnic Institute Worcester Massachusetts U.S.A.
4. Department of Biomedical Engineering Worcester Polytechnic Institute Worcester Massachusetts U.S.A.
5. Department of Mechanical Engineering Worcester Polytechnic Institute Worcester Massachusetts U.S.A.