diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
index 77c6a952c08ae513210efe3a714046f30ab50a86..bb90ca542332fe578bc5e395796c3f86ae8adc54 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
@@ -99,7 +99,7 @@
     <Joint type="revolute">
       <!--DH a="0" d="-7.5" theta="90" alpha="-90" units="degree"/-->
       <axis x="0" y="0" z="1"/>
-      <Limits unit="degree" lo="-120" hi="19"/>
+      <Limits unit="degree" lo="-90" hi="27"/>
 		<MaxVelocity unit="radian" value="1"/>
 		<MaxAcceleration value="10"/>
                 <MaxTorque value="3000"/>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
index 34e053589c8c97c5522615bc169da0c160426f1f..2aa2c287cdb342ffaf144ca49d0f8a17edcbbe1e 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
@@ -95,7 +95,7 @@
 		</Transform>
 		<Joint type="revolute">
 			<!--DH a="0" d="7.5" theta="90" alpha="-90" units="degree"/-->
-			<Limits unit="degree" lo="-120" hi="40"/> 
+			<Limits unit="degree" lo="-90" hi="30"/> 
                         <MaxVelocity unit="radian" value="1"/>
                         <MaxAcceleration value="10"/>
                         <MaxTorque value="3000"/>