Algodoo

Pretty fun claw made with a general axis system off to the left. Instead of controlling motor torque like typical joystick-pairing, this system can control speed, torque, even bendTarget, as well as spring length if you're so inclined to make something out of springs.
To get a controller working with algodoo, it needs to be plugged in before algodoo starts or it will not be recognized.
I had a wired Xbox controller paired while making and playing with this scene, the controlls are:

Shoulder: horizontal (left stick)
Elbow: horizontal (right stick)
Wrist: bumpers
Claw: triggers (left to open wide, right to close tight)

NOTE: moving the axis system horizontally will result in bad motor behavior, on account of the circle's horizontal positions controlling their respective variables.