There you can download the "RWTH - Mindstorms NXT Toolbox for MATLAB" for free
(it's opensource), which contains the complete sourcecode and documentation to
connect to your NXT via Bluetooth. No other MATLAB Toolboxes or libraries are
required. The current version 1.0 has been tested on various Linux and Windows
computers by over 300 students using almost 100 NXT robots. Enjoy and feel free
to comment!
Just enjoy this site: (URL) (in German) They developed a project "NXT meets Matlab" at (URL) (in English) (17 years ago, 16-Feb-08, to lugnet.robotics)