diff --git a/config/arm/v10/control_gains.yaml b/config/arm/v10/control_gains.yaml
index 7364f59..54452fd 100644
--- a/config/arm/v10/control_gains.yaml
+++ b/config/arm/v10/control_gains.yaml
@@ -39,3 +39,7 @@ joint6:
 joint7:
   kp: 10.0
   kd: 0.5
+
+hand:
+  kp: 5.0
+  kd: 0.1
diff --git a/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
index 56916e5..9fa9364 100644
--- a/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
+++ b/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
@@ -42,6 +42,10 @@
             <param name="kd5">${control_gains['joint5']['kd']}</param>
             <param name="kd6">${control_gains['joint6']['kd']}</param>
             <param name="kd7">${control_gains['joint7']['kd']}</param>
+            <xacro:if value="${hand}">
+              <param name="kp_hand">${control_gains['hand']['kp']}</param>
+              <param name="kd_hand">${control_gains['hand']['kd']}</param>
+            </xacro:if>
           </xacro:unless>
         </hardware>
 
@@ -107,6 +111,10 @@
             <param name="kd5">${control_gains['joint5']['kd']}</param>
             <param name="kd6">${control_gains['joint6']['kd']}</param>
             <param name="kd7">${control_gains['joint7']['kd']}</param>
+            <xacro:if value="${hand}">
+              <param name="kp_hand">${control_gains['hand']['kp']}</param>
+              <param name="kd_hand">${control_gains['hand']['kd']}</param>
+            </xacro:if>
           </xacro:unless>
         </hardware>
 
diff --git a/urdf/ros2_control/openarm.ros2_control.xacro b/urdf/ros2_control/openarm.ros2_control.xacro
index 223c331..1c0ec6b 100644
--- a/urdf/ros2_control/openarm.ros2_control.xacro
+++ b/urdf/ros2_control/openarm.ros2_control.xacro
@@ -42,6 +42,10 @@
             <param name="kd5">${control_gains['joint5']['kd']}</param>
             <param name="kd6">${control_gains['joint6']['kd']}</param>
             <param name="kd7">${control_gains['joint7']['kd']}</param>
+            <xacro:if value="${hand}">
+              <param name="kp_hand">${control_gains['hand']['kp']}</param>
+              <param name="kd_hand">${control_gains['hand']['kd']}</param>
+            </xacro:if>
           </xacro:if>
         </hardware>