diff --git a/iCubGenova01/calibrators/left_hand_calib.xml b/iCubGenova01/calibrators/left_hand_calib.xml
index fd7f69c530..38fc7814e3 100644
--- a/iCubGenova01/calibrators/left_hand_calib.xml
+++ b/iCubGenova01/calibrators/left_hand_calib.xml
@@ -21,7 +21,7 @@
 <!--USE THIS FOR CAN ROBOT CALIBRATION-->
 <group name="CALIBRATION">
 <param name="calibrationType">                                                                                            3        4        4        4        4        4        4        4        </param>
-<param name="calibration1">                                                                                               1204.5   252.0    16.0     245.0    37.0     254.0    26.0     746.0    </param>
+<param name="calibration1">                                                                                               1314.1   255.0    5.0     247.0    38.0     255.0    0.0     650.0    </param>
 <param name="calibration2">                                                                                               10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
 <param name="calibration3">                                                                                               0.0      6000.0   -6600.0  6000.0   7000.0   6000.0   -7000.0  -14000.0 </param>
 <param name="startupPosition">                                                                                               45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
diff --git a/iCubGenova01/calibrators/right_hand_calib.xml b/iCubGenova01/calibrators/right_hand_calib.xml
index cc26c1a1a3..5f7bb5653e 100644
--- a/iCubGenova01/calibrators/right_hand_calib.xml
+++ b/iCubGenova01/calibrators/right_hand_calib.xml
@@ -22,7 +22,7 @@
 <!--USE THIS FOR CAN ROBOT CALIBRATION-->
 <group name="CALIBRATION">
 <param name="calibrationType">                                                                                            3        4        4        4        4        4        4        4        </param>
-<param name="calibration1">                                                                                               1547.8  255.0    35.0      245.0    42.0     253.0    14.0     675.0    </param>
+<param name="calibration1">                                                                                               1580.7  255.0    5.0      196.0    13.0     207.0    22.0     627.0    </param>
 <param name="calibration2">                                                                                               10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
 <param name="calibration3">                                                                                               0.0      6000.0   6600.0   6000.0   -7000.0  6000.0   7000.0   14000.0  </param>
 <param name="startupPosition">                                                                                               45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
diff --git a/iCubGenova01/hardware/motorControl/icub_left_hand.xml b/iCubGenova01/hardware/motorControl/icub_left_hand.xml
index 16e05cf341..e6c64ccf32 100644
--- a/iCubGenova01/hardware/motorControl/icub_left_hand.xml
+++ b/iCubGenova01/hardware/motorControl/icub_left_hand.xml
@@ -31,8 +31,8 @@
 <param name="AxisMap">      0             1             2             3             4             5             6             7             </param>       
 <param name="AxisName">     "l_thumb_oppose"     "l_thumb_proximal"     "l_thumb_distal"   "l_index_proximal"    "l_index_distal"    "l_middle_proximal"   "l_middle_distal"    "l_pinky"  </param>
 <param name="AxisType">    "revolute"  "revolute"    "revolute"    "revolute"   "revolute"     "revolute"   "revolute"     "revolute"       </param>
-<param name="Encoder">                                                                                                    9.85    -2.433   -2.712   -2.544   -2.494   -2.822   -2.694   -2.096   </param>
-<param name="Zeros">                                                                                                      112.22   -103.56  -175.90  -96.29   -184.83  -90.00   -179.65  -355.92  </param>
+<param name="Encoder">                                                                                                    7.611    -2.478   -2.765   -2.744   -2.406   -2.833   -2.576   -2.040   </param>
+<param name="Zeros">                                                                                                      162.66   -102.91  -171.81  -90.00   -185.79  -90.00   -170.00  -318.63  </param>
 <param name="fullscalePWM">           1333            1333         1333      1333     1333    1333     1333    1333  </param>
 <param name="ampsToSensor">           1000.0          1000.0       1000.0    1000.0   1000.0  1000.0   1000.0  1000.0   </param>
 
diff --git a/iCubGenova01/hardware/motorControl/icub_right_hand.xml b/iCubGenova01/hardware/motorControl/icub_right_hand.xml
index 1b7c9d2a0e..bf23ca1fe1 100644
--- a/iCubGenova01/hardware/motorControl/icub_right_hand.xml
+++ b/iCubGenova01/hardware/motorControl/icub_right_hand.xml
@@ -31,8 +31,8 @@
 <param name="AxisMap">      0             1             2             3             4             5             6             7             </param>       
 <param name="AxisName">    "r_thumb_oppose"     "r_thumb_proximal"     "r_thumb_distal"   "r_index_proximal"    "r_index_distal"    "r_middle_proximal"   "r_middle_distal"    "r_pinky"  </param>
 <param name="AxisType">    "revolute"  "revolute"    "revolute"    "revolute"   "revolute"     "revolute"   "revolute"     "revolute"       </param>
-<param name="Encoder">       10.778    -2.344   -2.771   -2.500   -2.559   -2.733   -2.794   -1.400   </param>
-<param name="Zeros">         133.61   -107.06  -180.83  -98.00   -186.41  -92.56   -175.01  -480.70  </param>
+<param name="Encoder">       8.867    -2.344   -2.453   -2.078   -2.365   -2.300   -2.359   -1.716   </param>
+<param name="Zeros">         168.27   -107.06  -172.04  -94.33   -175.50  -90.00   -179.33  -365.38  </param>
 <param name="fullscalePWM">           1333            1333         1333      1333     1333    1333     1333    1333  </param>
 <param name="ampsToSensor">           1000.0          1000.0       1000.0    1000.0   1000.0  1000.0   1000.0  1000.0   </param>