diff --git a/iCubErzelli02/calibrators/left_arm-calib.xml b/iCubErzelli02/calibrators/left_arm-calib.xml
index 8af4aa468d..b44be57b4a 100644
--- a/iCubErzelli02/calibrators/left_arm-calib.xml
+++ b/iCubErzelli02/calibrators/left_arm-calib.xml
@@ -17,13 +17,13 @@
                                                                                 
 <group name="CALIBRATION">                                                      
 	<param name="calibrationType">        12         12         12         12           5      12     12    7     7     6     6     6     6      6      6     6     </param>
-	<param name="calibration1">           24431   	 45279      15071      18911       -1500   1455   319   0     0     0     0     0     0      0      0     0     </param>
-	<param name="calibration2">	      0          0          0          0	    16384  0      0     0     0     9102  9102  9102  9102   9102   9102  3640  </param>
-	<param name="calibration3">           0          0          0          0	    0      0      0     0     0    -1     1    -1     1     -1      1    -1     </param>
+	<param name="calibration1">           24223   	 45327      16079      18719      -1500   1455   319   0     0     0     0     0     0      0      0     0     </param>
+	<param name="calibration2">	      	  0          0          0          0	      16384    0      0     0     0     9102  9102  9102  9102   9102   9102  3640  </param>
+	<param name="calibration3">           0          0          0          0	        0      0      0     0     0    -1     1    -1     1     -1      1    -1     </param>
 	<param name="calibration4">           0          0          0          0            0      0      0     2060  2792  249   475   255   493    248    489   754   </param>
 	<param name="calibration5">           0          0          0          0            0      0      0     2300  4510  0     31    0     5      7      53    155   </param>
 	<param name="calibrationZero">        0          0          0          0            0      0      0     0     0     0     0     0     0      0      0     0     </param>
-	<param name="calibrationDelta">       1         -7         -11        -7            0      0      0     0     0     5     0     0     0      0      0     0     </param>
+	<param name="calibrationDelta">       0          0          0          0            0      0      0     0     0     5     0     0     0      0      0     0     </param>
 		                                                                        
 	<param name="startupPosition">       -35         30         0          50           0      0      0     15    30    0     0     0     0      0      0     0     </param>
 	<param name="startupVelocity">        10         10         10         10           30     30     30    100   100   100   100   100   100    100    100   100   </param>
diff --git a/iCubErzelli02/calibrators/right_arm-calib.xml b/iCubErzelli02/calibrators/right_arm-calib.xml
index ddc77d53a8..bc3e91a96a 100644
--- a/iCubErzelli02/calibrators/right_arm-calib.xml
+++ b/iCubErzelli02/calibrators/right_arm-calib.xml
@@ -18,13 +18,13 @@
 
 <group name="CALIBRATION">
 	<param name="calibrationType">       12        12       12        12     5      12     12    7     7     6     6     6     6      6      6     6    </param>
-	<param name="calibration1">          35375     17391    28559     55327  1500   19950  17720 0     0     0     0     0     0      0      0     0    </param>
-	<param name="calibration2">	     0         0        0         0      16384  0      0     0     0     9102  9102  9102  9102   9102   9102  3640 </param>
-	<param name="calibration3">	     0         0        0	  0	 0	0      0     0     0    -1     1    -1     1     -1      1    -1    </param>
+	<param name="calibration1">          31759     17727    24991     56095  1500   19950  17720 0     0     0     0     0     0      0      0     0    </param>
+	<param name="calibration2">	         0         0        0         0      16384  0      0     0     0     9102  9102  9102  9102   9102   9102  3640 </param>
+	<param name="calibration3">	         0         0        0	      0	     0	    0      0     0     0    -1     1    -1     1     -1      1    -1    </param>
 	<param name="calibration4">          0         0        0         0      0      0      0     2500  290   247   495   253   483    249    504   740  </param>
 	<param name="calibration5">          0         0        0         0      0      0      0     2710  1938  12    14    0     0      20     7     155  </param>
 	<param name="calibrationZero">       0         0        0         0      0      0      0     0     0     0     0     0     0      0      0     0    </param>
-	<param name="calibrationDelta">     -20        -6        2        -1      0      0      0     0     0     0     0     0     0      0      0     0    </param>
+	<param name="calibrationDelta">      0         0        0         0      0      0      0     0     0     0     0     0     0      0      0     0    </param>
 
 	<param name="startupPosition">      -35        30       0         50     0      0      0     25    30    0     0     0     0      0      0     0    </param>
 	<param name="startupVelocity">       10        10       10        10     30     30     30    60    100   100   100   100   100    100    100   100  </param>
diff --git a/iCubErzelli02/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubErzelli02/hardware/FT/left_arm-eb1-j0_3-strain.xml
index e9356ab7ee..2ded6c76d1 100644
--- a/iCubErzelli02/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubErzelli02/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -16,16 +16,16 @@
             <group name="PROPERTIES">
   
                 <group name="CANBOARDS">
-                    <param name="type">                 eobrd_strain            </param>
+                    <param name="type">                 strain2            </param>
 
                     <group name="PROTOCOL">
-                        <param name="major">            1                       </param>    
+                        <param name="major">            2                       </param>    
                         <param name="minor">            0                       </param>     
                     </group>                    
                     <group name="FIRMWARE">
-                        <param name="major">            0                       </param>    
+                        <param name="major">            2                       </param>    
                         <param name="minor">            0                       </param> 
-                        <param name="build">            0                       </param>
+                        <param name="build">            9                       </param>
                     </group>
                 </group>
                 
@@ -39,7 +39,8 @@
 
             <group name="SETTINGS">        
                 <param name="acquisitionRate">          10                      </param>
-                <param name="enabledSensors">           id_l_upper_arm_strain   </param>                
+                <param name="enabledSensors">           id_l_upper_arm_strain   </param>
+                <param name="temperature-acquisitionRate"> 1000                
             </group>
             
             <group name="STRAIN_SETTINGS">