How about giving some joints input/output settings; so the position of one joint acts as the controller for another. Or just allow the user to put the name of one joint as another's controller... both of these options would need to allow the controller input to be inverted, which would be useful anyway.
This would allow things like physical buttons, switches and sliders, and if x and y settings were allowed, joysticks. More complex stuff, like a working readout (e.g. a speedometer), or a slow-moving slider controlling acceleration on a vehicle, would be possible this way. I have next to no idea what's possible with the Newton engine, so I hope this fits into the 'doable' category; Thanks!