The Big Bang Theory Season 4 Episode 1 : The Robotic Manipulation

At dinner, Howard demonstrates a robotic arm that he "borrowed" from the Jet Propulsion Laboratory by unpacking dinner. He later uses it for a massage at home and then to masturbate. Due to executing the wrong program he gets his genitals stuck in the arm and has to call Leonard for help. First Howard tells them that he slipped, however, Leonard and Raj do not believe him, and mock him. In the emergency room going against Howard's fears that turning off the computer would make his situation worse, the attending nurse (Vernee Watson) turns it off and frees him. Later Howard gets "stuck again".