diff --git a/ergoCubSN000/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
index ad35459fc6..4d2eca7198 100644
--- a/ergoCubSN000/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
+++ b/ergoCubSN000/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
@@ -11,8 +11,8 @@
         <param name="Encoder">          182.044       182.044       182.044          </param>
         <param name="fullscalePWM">     32000         32000         32000            </param>
         <param name="ampsToSensor">     1000.0        1000.0        1000.0           </param>
-        <param name="Gearbox_M2J">     -384.44       -384.44       -384.44           </param>
-        <param name="Gearbox_E2J">      1.778         1.778         1.778            </param>
+        <param name="Gearbox_M2J">     -392.0        -392.0        -392.0            </param>
+        <param name="Gearbox_E2J">      2.0           2.0           2.0              </param>
         <param name="useMotorSpeedFbk"> 0             0             0                </param>
         <param name="MotorType">        "FAULHABER"   "FAULHABER"   "FAULHABER"      </param>
         <param name="Verbose">      0   </param>
diff --git a/ergoCubSN000/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
index c0209d3f7c..60acb519b7 100644
--- a/ergoCubSN000/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
+++ b/ergoCubSN000/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
@@ -11,8 +11,8 @@
         <param name="Encoder">          182.044       182.044       182.044          </param>
         <param name="fullscalePWM">     32000         32000         32000            </param>
         <param name="ampsToSensor">     1000.0        1000.0        1000.0           </param>
-        <param name="Gearbox_M2J">     -384.44       -384.44       -384.44           </param>
-        <param name="Gearbox_E2J">      1.778         1.778         1.778            </param>
+        <param name="Gearbox_M2J">     -392.0        -392.0        -392.0            </param>
+        <param name="Gearbox_E2J">      2.0           2.0           2.0              </param>
         <param name="useMotorSpeedFbk"> 0             0             0                </param>
         <param name="MotorType">        "FAULHABER"   "FAULHABER"   "FAULHABER"      </param>
         <param name="Verbose">      0   </param>
diff --git a/ergoCubSN001/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml b/ergoCubSN001/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
index cce6091747..27f5733ac3 100644
--- a/ergoCubSN001/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
@@ -11,8 +11,8 @@
         <param name="Encoder">          182.044       182.044       182.044          </param>
         <param name="fullscalePWM">     32000         32000         32000            </param>
         <param name="ampsToSensor">     1000.0        1000.0        1000.0           </param>
-        <param name="Gearbox_M2J">     -384.44       -384.44       -384.44           </param>
-        <param name="Gearbox_E2J">      1.778         1.778         1.778            </param>
+        <param name="Gearbox_M2J">     -392.0        -392.0        -392.0            </param>
+        <param name="Gearbox_E2J">      2.0           2.0           2.0              </param>
         <param name="useMotorSpeedFbk"> 0             0             0                </param>
         <param name="MotorType">        "FAULHABER"   "FAULHABER"   "FAULHABER"      </param>
         <param name="Verbose">      0   </param>
diff --git a/ergoCubSN001/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml b/ergoCubSN001/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
index ab4f7046d1..5a8a391cd7 100644
--- a/ergoCubSN001/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
@@ -11,8 +11,8 @@
         <param name="Encoder">          182.044       182.044       182.044          </param>
         <param name="fullscalePWM">     32000         32000         32000            </param>
         <param name="ampsToSensor">     1000.0        1000.0        1000.0           </param>
-        <param name="Gearbox_M2J">     -384.44       -384.44       -384.44           </param>
-        <param name="Gearbox_E2J">      1.778         1.778         1.778            </param>
+        <param name="Gearbox_M2J">     -392.0        -392.0        -392.0            </param>
+        <param name="Gearbox_E2J">      2.0           2.0           2.0              </param>
         <param name="useMotorSpeedFbk"> 0             0             0                </param>
         <param name="MotorType">        "FAULHABER"   "FAULHABER"   "FAULHABER"      </param>
         <param name="Verbose">      0   </param>