diff --git a/iCubErzelli01/calibrators/head-calib.xml b/iCubErzelli01/calibrators/head-calib.xml
index 6a48343b03..eefb93525f 100644
--- a/iCubErzelli01/calibrators/head-calib.xml
+++ b/iCubErzelli01/calibrators/head-calib.xml
@@ -22,7 +22,7 @@
         <param name="calibrationType">      3           3           3           3           5           5           </param>
         <param name="calibration1">   	    0	        0           0	        0	    3000        3000	    </param>
         <param name="calibration2">         0           0           0	        0           8192   	8192        </param>
-        <param name="calibration3">	    54783	49455	    10271	28559	    0   	0           </param> 
+        <param name="calibration3">	    54783	49455	    52500	28559	    0   	0           </param> 
 
         <param name="calibration4">         0           0           0           0           0           0           </param>
         <param name="calibration5">         0           0           0           0           0           0           </param>        
diff --git a/iCubErzelli02/calibrators/right_arm-calib.xml b/iCubErzelli02/calibrators/right_arm-calib.xml
index bc3e91a96a..0bef84e667 100644
--- a/iCubErzelli02/calibrators/right_arm-calib.xml
+++ b/iCubErzelli02/calibrators/right_arm-calib.xml
@@ -21,8 +21,8 @@
 	<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="calibration4">          0         0        0         0      0      0      0     2500  290   247   285   253   483    249    504   740  </param>
+	<param name="calibration5">          0         0        0         0      0      0      0     2710  1938  12    4     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">      0         0        0         0      0      0      0     0     0     0     0     0     0      0      0     0    </param>