Сontrol joints in the skeletal mesh with the physical simulation?

How can I set or contro the pose for the character, in the physical simulation?
Provided that all joints should behave as a spring constant, or similar spring constants?
Example without control: - YouTube
This question concerns not only pose but also play an animation.
are any solutions?

I was sure that this checkbox is responsible for this.

“update joints from animation”

how this checkbox works?

http://i.imgur.com/F4ShdQH.png

http://docs.nvidia.com/gameworks/content/gameworkslibrary/physx/guide/Manual/Joints.html#drives
Angular limits should be set on the free.
Angular motor does not work with limited and locked, as far as i understand…