Gregory Gutt has developed a software package to control the LEGO Mindstorm NXT using Bluetooth, RealTerm and MathWorks MATLAB software. MATLAB is a high-level language and interactive environment that enables you to perform computationally intensive tasks faster than with traditional programming languages such as C, C++, and Fortran. Gregory developed this for the George Mason University Neural Engineering Laboratory.

You can download the readme.txt file here, and the whole package here.