controlling torque and speed of the end effector in Simmechanics 1 st generation

i'm building an underactuated robotic massager with four fingers which applies cyclic load on human body .one dc motor is used to actuate the all fingers.I have modeled the human body with mass -spring damper system. My model should be able to apply variable forces at constant frequency .i e i have to keep the speed of the motor constant and have to control the torque(current) . Current and speed can be controlled in dc motor and i have simulated that in simulink. but how can i connect it to sim-mechanics 1st generation joint actuator block as it accepts only torque or generalized forces as input .