Exoskeleton torque plot is wrong

Hello,

I need to plot torque of human arm and assistive torque of exoskeleton. I have the reference plots but my graphs are different as compared to those even when I have auto-tuned PID. Kindly view the plots (images) attached here and the simulink model too.

I have taken the arm as simple rod with center of gravity at 1/3rd of the rod.

Regards