diff --git a/README.md b/README.md
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+++ b/README.md
@@ -1,12 +1,22 @@
-This is an implementation (mainly Matlab Simulink) of the haptic interface for teleoperation described in 
+This is an implementation (mainly Matlab Simulink) of the haptic interface for 
+teleoperation described in 
 
-Ghazaei Ardakani, M. M., M. Karlsson, K. Nilsson, A. Robertsson, and R.Johansson (2018). “Master-slave coordination using virtual constraintsfor a redundant dual-arm haptic interface”. In:IEEE/RSJ Interna-tional Conference on Intelligent Robots and Systems (IROS). October1–5, Madrid, Spain, pp. 8751–8757.
+Ghazaei Ardakani, M. M., M. Karlsson, K. Nilsson, A. Robertsson, 
+and R.Johansson
+(2018). “Master-slave coordination using virtual constraintsfor a redundant 
+dual-arm haptic interface”. In:IEEE/RSJ Interna-tional Conference on Intelligent
+Robots and Systems (IROS). October1–5, Madrid, Spain, pp. 8751–8757.
 
 Compile Simulink file:
+
 Open teleoperation.mdl
+
 Click on red box (you may have to adjust paths. You also need dynamics, see below.)
+
 Press ctrl+B to build (c-code is generated and compiled)
+
 An executable is generated into /tmp/$USER
 
-You also need the robot dynamics for this. It is not public. Please contact Congibotics to get the dynamics for ABB Frida (YuMi prototype).
+You also need the robot dynamics for this. It is not public. Please contact
+Congibotics to get the dynamics for ABB Frida (YuMi prototype).