diff --git a/vrep/lbr4-torque-control/lbr4_torque_control.m b/vrep/lbr4-torque-control/lbr4_torque_control.m
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+% Example of torque actuation and reading using a KUKA LBR4 robot.
+%
+% Usage:
+%       1) Open scene "lbr4_torque_control.ttt" on V-REP.
+%           Available at: https://osf.io/gmhba/?view_only=e0122282979d43af93aa280cfd390df3
+%       2) Run this file.
+
+% (C) Copyright 2011-2024 DQ Robotics Developers
+% 
+% This file is part of DQ Robotics.
+% 
+%     DQ Robotics is free software: you can redistribute it and/or modify
+%     it under the terms of the GNU Lesser General Public License as published by
+%     the Free Software Foundation, either version 3 of the License, or
+%     (at your option) any later version.
+% 
+%     DQ Robotics is distributed in the hope that it will be useful,
+%     but WITHOUT ANY WARRANTY; without even the implied warranty of
+%     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%     GNU Lesser General Public License for more details.
+% 
+%     You should have received a copy of the GNU Lesser General Public License
+%     along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+%
+% DQ Robotics website: dqrobotics.github.io
+%
+% Contributors to this file:
+%     1.  Frederico Fernandes Afonso Silva (frederico.silva@ieee.org)
+%        - Responsible for the original implementation.
+
+close all
+clear class
+clear all %#ok
+clc
+
+% use the namespace
+include_namespace_dq
+
+%% V-REP setup
+% Create a DQ_VrepInterface object and start communication with V-REP
+vi = DQ_VrepInterface();
+vi.connect('127.0.0.1',19997);
+disp('Communication established!')
+
+% Start simulation
+vi.set_synchronous(true);
+vi.start_simulation();
+disp('Simulation started!')
+
+% Define robot interface
+robot_name = 'LBR4p';
+for i=1:7
+    current_joint_name = {robot_name,'_joint',int2str(i)};
+    joint_names{i} = strjoin(current_joint_name,''); %#ok
+end
+
+%% Definition of the actuation torque
+tau = [-0.005; -25; 0; -30; -0.007; 0; 0];
+
+%% General variables
+iteration = 0;
+max_iteration = 10;
+
+%% Main loop
+while(iteration <= max_iteration)
+    % Robot actuation in V-REP
+    vi.set_joint_torques(joint_names, tau);
+    vi.trigger_next_simulation_step();
+    vi.wait_for_simulation_step_to_end();
+
+    formatSpec = 'Actuation torque sent to V-REP: %f\n';
+    fprintf(formatSpec,tau);
+    disp(' ')
+
+    % Read joint torques from V-REP
+    tau_read = vi.get_joint_torques(joint_names);
+
+    formatSpec = 'Joint torque read from V-REP: %f\n';
+    fprintf(formatSpec,tau_read);
+    disp(' ')
+
+    %% General messages
+    iteration = iteration + 1;
+
+    formatSpec = 'Iteration: %f\n';
+    fprintf(formatSpec,iteration);
+    disp(' ')
+end
+
+%% Finishes V-REP communication
+vi.stop_simulation();
+disp('Simulation finished!')
+vi.disconnect_all();
+disp('Communication finished!')
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