Joint saturation in simmechanics second generation

Any one has any idea about how to limit the motion of a revolute joint which is actuated by torque? in order to model a biped robot I need to saturate the joints like as human body.For example knee joint just can move in a limited range. I did it before in simmechanics first generation by designing a filter. The actuator was motion in that model. Now I don't know how to do it again when the actuator is a torque. I need to use something like revolute hard limits, Maybe...

[Walter Roberson]

Please use better tags for this question; see http://www.mathworks.co.uk/matlabcentral/answers/43073-a-guide-to-tags

[Pouya Jamali]

How is it now? ;-)

Answer 1

[Ryan G]

You can use an angle constraint to limit the motion of a revolute joint.

[Pouya Jamali]

Daer Ryan tnx for your attention, I will be more grateful if you provide me with more explanation... I don't know how must I place this block on my block diagram...Must it be placed serially between the joint and the body ?

[christopher bitikofer]

would also like an explanation, I've been unable to find any documentation with usage examples.