This document summarizes the tasks and procedures involved in conducting research on reach and grasp movements using non-human primates. It describes repairing and calibrating objects used in experiments, developing a MATLAB program to randomize experimental conditions, and fabricating EMG electrodes to record muscle activity. The goal is to understand the daily challenges of conducting this research and ensure accurate and reliable data collection.

1. Behind The Scenes Of Reach
To Grasp Research
Petroula N Karagiannis
University of Minnesota-Fall 2006
Advisor: Dr. Timothy Ebner, MD PhD
Department of Neuroscience
Co-Advisor: Jodi Prosise
Department of Biomedical Engineering
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2. Outline
 In depth examination of procedures and everyday
tasks critical to conducting the Reach to Grasp
research.
 Investigation Requirements:
 Non-human primates
 Objects
 Matlab Program
 EMG Electrodes
 Motion Analysis
 The importance lies in the understanding of the
daily challenges encountered by the team, which
may be overlooked at times.
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3. Primary Objectives
 Repair, verify and calibrate objects
 Design a Matlab Program
 Develop and test electrodes
Prosise 2006
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4. Repairing Objects
 Materials Needed:
 Screws 2nd object piece
Set screw
 O-rings O-ring Force sensor
 Force sensing resistors
 Allen wrench
 Wire cutter/striper Main object piece
3rd object piece
 Heat shrink
 Needle nose pliers
 Standard rosin core solder
 Electrical and padded tape
 Solder tool stand/iron
 Scissors
 Screw driver
 Colored wires
 Alcohol wipes
 Connectors and housing Prosise 2006
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5. Verifying Objects
 Equipment Needed:
 Banana plugs
 Relay box
 Weights (1-1000 Kg)
 Heavy bottles
 Start pad
 NStudio calibration file
Prosise 2006
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6. Calibrating Objects
Weight (grams) Force (N) Sensor 1 (Volts) Sensor 2 (Volts)
1 0.009806 0.1 0
2 0.019612 0.3 0.1
5 0.04903 0.5 0.7
10 0.09806 0.9 0.7
20 0.19612 1.5 1.3
50 0.4903 2.3 2.2
100 0.9806 2.9 2.7
200 1.9612 3.2 3.1
500 4.903 3.5 3.8
1000 9.806 3.9 4
Object 18 Calibration Data Sample
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7. Calibrating Objects
Calibration Curve: Object 18
12
10
Force (Newtons)
8
Force Sensor 1
6
Force Sensor 2
4
2
0
-1 0 1 2 3 4 5
Force Sensor Voltage (Volts)
Object 18 Calibration Graph Sample
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8. “rangen”
Object
 2 trays ~ 8 objects
 1 tray ~ 7 objects Robot
 Recording purposes Object
Tray
 2 x 3 trays
 23 objects
 “rangen”
 Randomizes objects and trays
 Indicates duplicated column
numbers
 Error checking
Prosise 2006
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9. “rangen”-Random Numbers
 Generates a random matrix of a specified size and element interval
without repeats in the columns of the matrix.
 function rangen()
 clear all;
clc;
 Objects_to_randomize = input('Enter the number of objects you
want to randomize:')
Days = input('Enter the number of days you want to output:')
Trays_to_randomize = input('Enter the number of trays you want to
randomize:')
 [ignore, objects] = sort(rand(Objects_to_randomize, ceil(Days)))
[ignore, trays] =
sort(rand(Trays_to_randomize, ceil(Days)))
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10. “rangen”-Duplicate Number Detection
 First_set = objects([Start_position:Stop_position],
First_column)
Second_set = objects([Start_position:Stop_position],
Second_column)
 Duplicate_objects = intersect(First_set, Second_set)
Changing_objects = setdiff(First_set, Second_set)
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11. “rangen”-Sample Output
 Enter the number of objects you  trays =
want to randomize:5 1 4 2
Objects_to_randomize = 4 1 5
5 5 5 1
3 2 4
2 3 3
 Enter the number of days you want
to output:3
Days =  objects =
3 2 3 5
4 5 1
3 2 4
 Enter the number of trays you want 5 1 2
to randomize:5 1 4 3
Trays_to_randomize =
5
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12. “rangen”-Sample Output
 First_set =  Duplicate_objects =
2 2
3
4
3
Changing_objects =
4
Second_set =
3
5
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13. EMG Electrodes
 Requirements
 3T wires ~ 3-4 ft long
 Twist 2 wires ~ Drill
 Hypodermic needle ~ Gage 25
 Specific manufacturer
 Procedures
 Dull edge ~ Gage 27
 Flush H2O ~ Syringe
 Insert wire ~ Gage 25
 Strip Teflon coating ~ 1 mm and 0.5 mm
 Pull back wire ~ 1.5-2 mm
 No contact
 Verification
 Test for signal ~ success!
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14. Closure Mmm, this hair net
sure feels tight…
 Advancement and completion of the research conducted by the
Reach and Grasp team.
 References/Acknowledgments:
 Dr. Timothy Ebner, MD PhD
 Jodi Prosise
 Dr. Claudia Hendrix, PhD
 Dr. Carolyn R. Mason, PhD
 Sarah Jacobson
 Mahdi Khorasani
 Group at Ebner Lab
 Thank you!
 Questions/Comments?
 kara0115@umn.edu
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