ORLANDO, Fla. — Republican presidential candidate Mitt Romney laid out his plans Tuesday to replace the Affordable Care Act with a new health-care plan that emphasizes tax breaks to small businesses and picks up many of the popular parts of the law he derides as “Obamacare.”

Speaking on the factory floor of Con Air Industries of Orlando, a company that makes air filters, Romney also decried President Barack Obama as “out of touch,” repeatedly berating him for his comment last week that “the private sector economy is fine.”

“It’s time we have a president who is touch with America. And I am,” he said in a speech that ran nearly 40 minutes.

Romney wants to drop insurance mandates requiring everyone to eventually purchase health insurance and instead ask the states to continue to serve uninsured people’s health needs. He proposed turning Medicaid and other federal health programs into bloc grants to states without as many restrictions and requirements. He wants to create tax incentives for individuals and for small businesses that purchase health insurance for their employees.

“It has worked everywhere we’ve applied the free market model,” Romney said. “We need to apply that to health care.”

Beyond that, Romney emphasized he would keep several portions of Obama’s current plan, including guaranteeing that people with pre-existing health conditions would be able to purchase insurance.