Here we used the following links as the reference to setup MATLAB environment for Kinect V1 and Novint Falcon:
MATLAB:
1. Installing the support package:
http://www.mathworks.com/help/imaq/installing-the-kinect-for-windows-sensor-support-package.html
2. Some demos for acquiring image data:
http://www.mathworks.com/help/imaq/acquiring-image-and-skeletal-data-using-the-kinect.html
Novint Falcon: