Modelling Backlash in Simscape Multibody Model

Hello,

I already have a multibody model of a DC motor shaft connected to a rod and rest of the components. Currently I am using a weld joint between the DC motor shaft and the rod. Now I am asked to model backlash between the motor shaft and rod, is it possible to model in Simscape Mulitbody? I knew I need to change the joint type but how do I add the backlash?

I came across a document mentioned that SimScape Multibody does not provide a function for modelling backlash (https://eprints.whiterose.ac.uk/184361/1/robotics-10-00134-v2.pdf, pg 16), is it true? If not, how can I do the modelling?

Thanks!