At present we are constructing a synthetic version of the sensorimotor control system of the nonhuman primate. In order to reach this goal we are utilizing electrophysiological, pharmacological and computational methods. I will present results and theory from our work aimed at generating a somatosensory neuroprosthesis, in addition to a force controlled brain machine interface, and how we are utilizing these experiments in combination with micro-infusion of the PKMzeta inhibitor ZIP into the sensorimotor cortex to further our understanding of this system. We have recently shown that such injections of ZIP erase sensorimotor memories without influencing explicit memories needed for task completion. This tool will allow us to wipe out such learning induced LTP dependent memories from our in vivo physiological system, which we can then compare with such LTP erasure in our computational models, compare, and learn.