robotic arm force feedback simulation

hi every one

I am trying to simulate Robot with active force control like robot in this video %22http://www.youtube.com/watch?v=4Ro6rQbePqE%22 if any one can help me or give me any tutorial

thank you all

Answer 1

[Guy Rouleau]

This is very close to that you need:

http://www.mathworks.com/help/physmod/sm/examples_v2/computing-actuator-torques-using-inverse-dynamics.html

[abd]

Thank You very much for your help