diff --git a/iCubValparaiso01/calibrators/face-calib.xml b/iCubValparaiso01/calibrators/face-calib.xml
index fdaf5a03b8..e25da8f8c5 100644
--- a/iCubValparaiso01/calibrators/face-calib.xml
+++ b/iCubValparaiso01/calibrators/face-calib.xml
@@ -21,7 +21,7 @@
         <group name="CALIBRATION">
             <param name="calibrationType">              12              </param>
             <!-- The value of the raw encoder needs to be with sign -->
-	        <param name="calibration1">             9344        </param> 
+	        <param name="calibration1">             -23394        </param> 
             <param name="calibration2">                 0              </param> 
             <param name="calibration3">                 0             </param>
 
diff --git a/iCubValparaiso01/calibrators/left_arm-calib.xml b/iCubValparaiso01/calibrators/left_arm-calib.xml
index 2c20c8a1f5..b8f9055520 100644
--- a/iCubValparaiso01/calibrators/left_arm-calib.xml
+++ b/iCubValparaiso01/calibrators/left_arm-calib.xml
@@ -17,15 +17,15 @@
 				                                                                
 		<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">          10975   	 25135     32000      16223    -1500   12200  17271    0      0     0     0     0     0      0      0     0     </param>
+			<param name="calibration1">          10975   	 25135     32000      16223    -1500   12800  19855    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  10000  </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     2570  1580  220   486   255   500    255    460   762   </param>
-			<param name="calibration5">           0          0          0          0         0       0      0     2820  3300  0     25    10     34     11     10    185   </param>
+			<param name="calibration4">           0          0          0          0         0       0      0     2650  1460  220   488   255   500    255    485   762   </param>
+			<param name="calibration5">           0          0          0          0         0       0      0     2880  3350  0     15    10     34     11     10    185   </param>
 			<param name="calibrationZero">        0          0          0          0         0       0      0     0     0     0     0     0     0      0      0     0     </param>
 			<param name="calibrationDelta">       0         -7          6         2.5        0       0      0     1     0     0     0     0     0      0      0     0     </param>
 						                                                         
-			<param name="startupPosition">       -35         30         0          50        0      0      0     25    35    0     0     0     0      0      0     0     </param>
+			<param name="startupPosition">       -35         30         0          50        0      0      0     35    35    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>
 			<param name="startupMaxPwm">          3000       3000       3000       3000      3000   0      0     0     0     0     0     0     0      0      0     0     </param>
 			<param name="startupPosThreshold">    2          2          2          2         90     90     90    90    90    90    90    90    90     90     90    90    </param>
diff --git a/iCubValparaiso01/calibrators/right_arm-calib.xml b/iCubValparaiso01/calibrators/right_arm-calib.xml
index 2bbfaa5e8b..0bdab4d209 100644
--- a/iCubValparaiso01/calibrators/right_arm-calib.xml
+++ b/iCubValparaiso01/calibrators/right_arm-calib.xml
@@ -18,7 +18,7 @@
 
 <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">          64447     1311    30000    7071    1500   12399  10031   0     0     0     0     0     0      0      0     0     </param>
+	<param name="calibration1">          64447     1311    30000    7071    1500   11379  15000   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  10000 </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    1550  2100   255   450   248   450    255    490   760   </param>