diff --git a/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp b/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
index d6cea4b0..1130df20 100644
--- a/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
+++ b/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
@@ -111,6 +111,9 @@ class OpenArm_v10HW : public hardware_interface::SystemInterface {
   const double GRIPPER_KP = 5.0;
   const double GRIPPER_KD = 0.1;
 
+  double gripper_kp_ = GRIPPER_KP;
+  double gripper_kd_ = GRIPPER_KD;
+
   // Configuration
   std::string can_interface_;
   std::string arm_prefix_;
diff --git a/openarm_hardware/src/v10_simple_hardware.cpp b/openarm_hardware/src/v10_simple_hardware.cpp
index 69f305cf..2ddaeacb 100644
--- a/openarm_hardware/src/v10_simple_hardware.cpp
+++ b/openarm_hardware/src/v10_simple_hardware.cpp
@@ -71,6 +71,16 @@ bool OpenArm_v10HW::parse_config(const hardware_interface::HardwareInfo& info) {
       kd_[i - 1] = std::stod(it->second);
     }
   }
+  if (hand_) {
+    it = info.hardware_parameters.find("kp_hand");
+    if (it != info.hardware_parameters.end()) {
+      gripper_kp_ = std::stod(it->second);
+    }
+    it = info.hardware_parameters.find("kd_hand");
+    if (it != info.hardware_parameters.end()) {
+      gripper_kd_ = std::stod(it->second);
+    }
+  }
 
   RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"),
               "Configuration: CAN=%s, arm_prefix=%s, hand=%s, can_fd=%s",
@@ -281,7 +291,7 @@ hardware_interface::return_type OpenArm_v10HW::write(
     // TODO the true mappings are unimplemented.
     double motor_command = joint_to_motor_radians(pos_commands_[ARM_DOF]);
     openarm_->get_gripper().mit_control_all(
-        {{GRIPPER_KP, GRIPPER_KD, motor_command, 0, 0}});
+        {{gripper_kp_, gripper_kd_, motor_command, 0.0, 0.0}});
   }
   openarm_->recv_all(1000);
   return hardware_interface::return_type::OK;
@@ -301,7 +311,7 @@ void OpenArm_v10HW::return_to_zero() {
   // Return gripper to zero if enabled
   if (hand_) {
     openarm_->get_gripper().mit_control_all(
-        {{GRIPPER_KP, GRIPPER_KD, GRIPPER_JOINT_0_POSITION, 0.0, 0.0}});
+        {{gripper_kp_, gripper_kd_, GRIPPER_JOINT_0_POSITION, 0.0, 0.0}});
   }
   std::this_thread::sleep_for(std::chrono::microseconds(1000));
   openarm_->recv_all();