Multimedia

Overall Device with a Manikin

Simulation Arm Tracking Virtual Arm

Simulation Arm Tracking Physical Arm

Trajectory Tracking Simulation

Laryngoscope Yaw Motion Demonstration

Laryngoscope Pitch Motion Demonstration

Overall Physical Device

CAD Universal Joint Prototype 2 (Left); Universal Joint (Center); Universal Joint Attached to WoodenHaptics (Right)

CAD Extension Piece Prototype 2 (Left); 3D-Printed Extension Piece with Different Offsets (Center); Extension Piece Connected to Laryngoscope (RIght)

CAD Light Press (Left); 3D-Printed Laryngoscope Handle with Light Source Housing (Right)

Revised Final Design

Matlab Simulation of Magnitude and Direction of Forces Required to Be Exerted by Arms to Achieve Desired Torque and Force on the Laryngoscope (Left); 

Matlab Simulation of Compensatory Force Required to Counter Induced Rotation vs Distance of Center of Mass from X-Axis (Right)

CAD Universal Joint Prototype 1

Rotary Joint Motion Demonstration

Laryngoscope with Motor-driven Rotary Joint and Extension Piece

CAD Extension Piece Prototype 1 (Left); CAD Motor Housing (Right)

CAD Laryngoscope Handle (Left); 3D-Printed Laryngoscope Handle with Actual Blade (Right)

Lasercut Parts of WioodenHaptics (Left); Actual WoodenHaptics Arm (Right)

Overview of Hardware Platform

WoodenHaptics Open Source Haptic Arm

Laryngoscopy Overview (Left); Example of Manekin Training Platform (Center); Virtual Expert Trajectory (Right)