Yes, this is possible. If the controller is not one that is already supported by MSRS then in our Robotics Tutorial 6 [2] you can see how to go about doing it for other controllers. If you run into trouble then the best forum for this kind of questions is "Microsoft Robotics - Hardware Configuration and Troubleshooting" [1]
Henrik
[1] http://forums.microsoft.com/MSDN/ShowForum.aspx?ForumID=1428&SiteID=1