You can use Simulink dashboard blocks to control parameters within the simulation. This would allow you to specify position, speed, velocity, force, or torque to any of the degrees of freedom that can be controlled by a Simulink signal.
You would need to configure your joints to accept either motion input or force/torque input. That can be done in the "Actuation" portion of the joint blocks in your Simscape Multibody model.
If you choose to provide inputs to your model in this way, you should enable simulation pacing in your model. That way, the inputs you provide manually will be synchronized with what you are seeing in the animation.
--Steve
