diff --git a/ergoCubSN000/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml b/ergoCubSN000/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
index 54bcf2435..eb91eb299 100644
--- a/ergoCubSN000/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
+++ b/ergoCubSN000/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
@@ -14,7 +14,7 @@
         <param name="Gearbox_M2J">         -100.00           -160.00        </param>
         <param name="Gearbox_E2J">          64               32           </param>
          <param name="useMotorSpeedFbk">        1                1           </param>
-        <param name="MotorType">              "MOOG_C2900580"   "MOOG_C2900575" </param>
+        <param name="MotorType">              "MOOG_C2900580"   "MOOG_C2900576" </param>
        
         <param name="Verbose"> 0 </param>
     </group>
diff --git a/ergoCubSN000/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml b/ergoCubSN000/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
index 8d8b1a5d4..2f7b4ac5f 100644
--- a/ergoCubSN000/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
+++ b/ergoCubSN000/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
@@ -14,7 +14,7 @@
         <param name="Gearbox_M2J">                  100.0               160.0         </param>
         <param name="Gearbox_E2J">                  64                       32         </param>
         <param name="useMotorSpeedFbk">              1                        1            </param>
-        <param name="MotorType">                 "MOOG_C2900580"      "MOOG_C2900575"  </param>
+        <param name="MotorType">                 "MOOG_C2900580"      "MOOG_C2900576"  </param>
         <param name="Verbose">   0   </param>
     </group>
 
diff --git a/ergoCubSN001/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml b/ergoCubSN001/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
index d975c234d..02b9b256a 100644
--- a/ergoCubSN001/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
@@ -14,7 +14,7 @@
         <param name="Gearbox_M2J">         -100.00           -160.00        </param>
         <param name="Gearbox_E2J">          64               32           </param>
          <param name="useMotorSpeedFbk">        1                1           </param>
-        <param name="MotorType">              "MOOG_C2900580"   "MOOG_C2900575" </param>
+        <param name="MotorType">              "MOOG_C2900580"   "MOOG_C2900576" </param>
        
         <param name="Verbose"> 0 </param>
     </group>
diff --git a/ergoCubSN001/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml b/ergoCubSN001/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
index f3b82b5a7..e247ef073 100644
--- a/ergoCubSN001/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
@@ -14,7 +14,7 @@
         <param name="Gearbox_M2J">                  100.0               160.0         </param>
         <param name="Gearbox_E2J">                  64                       32         </param>
         <param name="useMotorSpeedFbk">              1                        1            </param>
-        <param name="MotorType">                 "MOOG_C2900580"      "MOOG_C2900575"  </param>
+        <param name="MotorType">                 "MOOG_C2900580"      "MOOG_C2900576"  </param>
         <param name="Verbose">   0   </param>
     </group>
 
diff --git a/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml b/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
index b3d77febd..95c1da600 100644
--- a/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
+++ b/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
@@ -14,7 +14,7 @@
         <param name="Gearbox_M2J">         -100.00           -160.00        </param>
         <param name="Gearbox_E2J">          64               32           </param>
          <param name="useMotorSpeedFbk">        1                1           </param>
-        <param name="MotorType">              "MOOG_C2900580"   "MOOG_C2900575" </param>
+        <param name="MotorType">              "MOOG_C2900580"   "MOOG_C2900576" </param>
        
         <param name="Verbose"> 0 </param>
     </group>
diff --git a/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml b/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
index 19a4a4584..6656df0e5 100644
--- a/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
+++ b/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
@@ -14,7 +14,7 @@
         <param name="Gearbox_M2J">                  100.0               160.0         </param>
         <param name="Gearbox_E2J">                  64                       32         </param>
         <param name="useMotorSpeedFbk">              1                        1            </param>
-        <param name="MotorType">                 "MOOG_C2900580"      "MOOG_C2900575"  </param>
+        <param name="MotorType">                 "MOOG_C2900580"      "MOOG_C2900576"  </param>
         <param name="Verbose">   0   </param>
     </group>
     <group name="LIMITS">