All data from the KINARM is available in the KINdata_bus From tag in Simulink. If you connect the KINdata_bus From tag to a bus selector, you can double click the bus selector to pick out the torque(s) you are interested in by name and then use it as an input to the Stateflow diagram.
Information on what is in the KINdata_bus tag is available in the Creating Task Programs for Dexterit-E user guide.
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