cb463f73a35802996546ac8e8b1b2743-Supplemental-Datasets_and_Benchmarks_Track.pdf

A.1 Behavioral Task A male nonhuman primate (NHP, Macaca mulatta), Monkey N (age 7 at the beginning of the dataset, age 11 at the end), was trained to perform a trial-based, two degree-of-freedom (DOF) dexterous finger movement task, shown in Figure 1. During all sessions, Monkey N sat in a primate chair (Crist Instruments, Hagerstown, MA) in a shielded chamber, with his arms fixed at his sides and flexed 90 degrees at the elbow, resting on a table. The left hand was positioned securely in a manipulandum, which used bend sensors (FS-L-0073-103-ST, Spectra Symbol, Salt Lake City, UT) to measure the flexion of two finger groups, index (IDX) and middle-ring-small (MRS). At the beginning of each experimental session (and as needed throughout a session), these flexion sensors were calibrated such that a reading of 1 indicated full flexion of a finger group and a reading of 0 indicated full extension. These readings were used to update the positions of the corresponding finger groups of a virtual hand presented on a screen in front of Monkey N. Bend sensor values were sampled at 1000 Hz. Updates to the virtual hand were limited to the refresh rate of the monitor (120 Hz). The task itself involved trial-based target acquisitions. At the beginning of each trial, two color-coded spherical targets, one for each DOF, were placed on the screen, covering 15% of the full arc of motion (see Figure 1A). Monkey N then acquired the targets by moving his fingers to the correct positions and holding his position for 750 ms.