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	      SrcBlock		      "Pf"
	      SrcPort		      1
	      DstBlock		      "Mux"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "ti"
	      SrcPort		      1
	      DstBlock		      "Mux"
	      DstPort		      3
	    }
	    Line {
	      SrcBlock		      "tf"
	      SrcPort		      1
	      DstBlock		      "Mux"
	      DstPort		      4
	    }
	    Line {
	      SrcBlock		      "Demux"
	      SrcPort		      3
	      DstBlock		      "Mux1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Mux2"
	      SrcPort		      1
	      DstBlock		      "XYd"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux"
	      SrcPort		      4
	      DstBlock		      "Mux1"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Mux1"
	      SrcPort		      1
	      DstBlock		      "XYddot"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  Constant
	  Name			  "obstacle position"
	  Position		  [1330, 440, 1360, 470]
	  Orientation		  "left"
	  Value			  "[inf;inf]"
	}
	Block {
	  BlockType		  Constant
	  Name			  "tf"
	  Position		  [60, 411, 75, 429]
	  Value			  "2"
	}
	Block {
	  BlockType		  Constant
	  Name			  "ti"
	  Position		  [25, 386, 40, 404]
	  Value			  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Q"
	  Position		  [1110, 273, 1140, 287]
	}
	Block {
	  BlockType		  Outport
	  Name			  "Qdot"
	  Position		  [995, 363, 1025, 377]
	  Port			  "2"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Q2dots"
	  Position		  [945, 393, 975, 407]
	  Port			  "3"
	}
	Block {
	  BlockType		  Outport
	  Name			  "XY"
	  Position		  [1210, 353, 1240, 367]
	  Port			  "4"
	}
	Line {
	  SrcBlock		  "Pi"
	  SrcPort		  1
	  DstBlock		  "Trajectory planner"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Pf"
	  SrcPort		  1
	  DstBlock		  "Trajectory planner"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "ti"
	  SrcPort		  1
	  DstBlock		  "Trajectory planner"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "tf"
	  SrcPort		  1
	  DstBlock		  "Trajectory planner"
	  DstPort		  4
	}
	Line {
	  SrcBlock		  "MIT-MANUS ROBOT"
	  SrcPort		  2
	  Points		  [230, 0]
	  Branch {
	    Points		    [0, 225; -760, 0]
	    DstBlock		    "Sum"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [90, 0]
	    Branch {
	      Points		      [120, 0; 0, 125]
	      DstBlock		      "Mux1"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 50]
	      DstBlock		      "XY"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Trajectory planner"
	  SrcPort		  1
	  Points		  [25, 0]
	  Branch {
	    DstBlock		    "Sum"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -190]
	    DstBlock		    "Inverse\nKinematics"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Kp"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "MIT-MANUS ROBOT"
	  SrcPort		  3
	  Points		  [200, 0; 0, 150; -570, 0]
	  DstBlock		  "Kd"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Kp"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Kd"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "MIT-MANUS ROBOT"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    Points		    [0, -40; -260, 0]
	    Branch {
	      Points		      [-85, 0; 0, 80]
	      DstBlock		      "Mux"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, -115]
	      DstBlock		      "Mux2"
	      DstPort		      3
	    }
	  }
	  Branch {
	    DstBlock		    "Q"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Torques"
	  SrcPort		  1
	  DstBlock		  "MIT-MANUS ROBOT"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Torques"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "External obstacle\ninteraction force"
	  SrcPort		  1
	  Points		  [-25, 0; 0, 115]
	  DstBlock		  "Sum2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  DstBlock		  "External obstacle\ninteraction force"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "obstacle position"
	  SrcPort		  1
	  Points		  [-10, 0]
	  Branch {
	    DstBlock		    "Mux1"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, -420; -710, 0; 0, 50]
	    DstBlock		    "Mux2"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Sum3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum3"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Mux2"
	  SrcPort		  1
	  DstBlock		  "Animation"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Clock"
	  SrcPort		  1
	  DstBlock		  "Mux2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "MIT-MANUS ROBOT"
	  SrcPort		  4
	  DstBlock		  "Qdot"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "MIT-MANUS ROBOT"
	  SrcPort		  5
	  DstBlock		  "Q2dots"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "F_HUM"
	  SrcPort		  1
	  Points		  [150, 0]
	  DstBlock		  "Sum2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  Points		  [-145, 0]
	  DstBlock		  "Sum3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Theta"
	  SrcPort		  1
	  DstBlock		  "Mux2"
	  DstPort		  4
	}
	Line {
	  SrcBlock		  "Animation"
	  SrcPort		  1
	  DstBlock		  "Scope3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Trajectory planner"
	  SrcPort		  2
	  Points		  [55, 0; 0, -190]
	  DstBlock		  "Inverse\nKinematics"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "MIT MANUS ROBOT\n& CONTROLLER"
      SrcPort		      4
      DstBlock		      "HUMAN ARM"
      DstPort		      4
    }
    Line {
      SrcBlock		      "MIT MANUS ROBOT\n& CONTROLLER"
      SrcPort		      3
      DstBlock		      "HUMAN ARM"
      DstPort		      3
    }
    Line {
      SrcBlock		      "MIT MANUS ROBOT\n& CONTROLLER"
      SrcPort		      2
      DstBlock		      "HUMAN ARM"
      DstPort		      2
    }
    Line {
      SrcBlock		      "MIT MANUS ROBOT\n& CONTROLLER"
      SrcPort		      1
      DstBlock		      "HUMAN ARM"
      DstPort		      1
    }
    Line {
      SrcBlock		      "HUMAN ARM"
      SrcPort		      1
      Points		      [60, 0; 0, 225; -500, 0; 0, -225]
      DstBlock		      "MIT MANUS ROBOT\n& CONTROLLER"
      DstPort		      1
    }
    Line {
      SrcBlock		      "HUMAN ARM"
      SrcPort		      2
      Points		      [40, 0; 0, 100; -450, 0; 0, -100]
      DstBlock		      "MIT MANUS ROBOT\n& CONTROLLER"
      DstPort		      2
    }
  }
}