diff --git a/example/servo-franka/frankaGripper.cpp b/example/servo-franka/frankaGripper.cpp
index deeccaccda..cfc66a1888 100644
--- a/example/servo-franka/frankaGripper.cpp
+++ b/example/servo-franka/frankaGripper.cpp
@@ -64,7 +64,6 @@ int main(int argc, char **argv)
   double opt_grasping_width = 0.;
   double opt_grasping_speed = 0.1;
   double opt_grasping_force = 60;
-  double opt_grasping_time = 0;
   GripperState_t opt_gripper_state = Gripper_None;
 
   for (int i = 1; i < argc; i++) {
@@ -97,10 +96,6 @@ int main(int argc, char **argv)
       ++i;
       opt_grasping_force = std::atof(argv[i]);
     }
-    else if (std::string(argv[i]) == "--grasp-time" && i + 1 < argc) {
-      ++i;
-      opt_grasping_time = std::atof(argv[i]);
-    }
     else if (std::string(argv[i]) == "--test" && i + 1 < argc) {
       ++i;
       opt_gripper_state = Gripper_Test;
@@ -109,14 +104,13 @@ int main(int argc, char **argv)
     else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
       std::cout << "SYNOPSYS" << std::endl
         << "  " << argv[0]
-        << " [--ip <default " << opt_robot_ip << ">]"
+        << " [--ip <controller ip>]"
         << " [--home]"
         << " [--open]"
         << " [--close]"
         << " [--grasp <width>]"
         << " [--grasp-speed <speed>]"
         << " [--grasp-force <force>]"
-        << " [--grasp-time <duration>]"
         << " [--release]"
         << " [--test <width>]"
         << " [--help] [-h]\n" << std::endl;
@@ -149,11 +143,6 @@ int main(int argc, char **argv)
         << "    Force in [N] applied during grasping." << std::endl
         << "    Default: " << opt_grasping_force << " [N]" << std::endl
         << std::endl
-        << "  --grasp-time <duration>" << std::endl
-        << "    Duration in [s] the grasping force will be applied before releasing the object." << std::endl
-        << "    When duration is set to -1, grasping will be applied until stopped by CTRL-C." << std::endl
-        << "    Default: " << opt_grasping_time << " [s]" << std::endl
-        << std::endl
         << "  --release" << std::endl
         << "    Release an object that is grasped." << std::endl
         << std::endl
@@ -205,16 +194,6 @@ int main(int argc, char **argv)
     else if (opt_gripper_state == Gripper_Grasp) {
       std::cout << "Gripper grasp " << opt_grasping_width << "m object width, with speed: " << opt_grasping_speed << " and force: " << opt_grasping_force << "N..." << std::endl;
       robot.gripperGrasp(opt_grasping_width, opt_grasping_speed, opt_grasping_force);
-      if (opt_grasping_time < 0) {
-        std::cout << "Hit CTRL-C to quit. The grasping force will continue to be applied..." << std::endl;
-        while (1) {
-          vpTime::sleepMs(1000);
-        }
-      }
-      else {
-        std::cout << "Wait " << 1000 * opt_grasping_time << " seconds before releasing the object" << std::endl;
-        vpTime::sleepMs(1000 * opt_grasping_time);
-      }
     }
     else if (opt_gripper_state == Gripper_Release) {
       std::cout << "Gripper release object..." << std::endl;
diff --git a/example/servo-franka/servoFrankaIBVS.cpp b/example/servo-franka/servoFrankaIBVS.cpp
index be6503f7ca..1fd7d89f2f 100644
--- a/example/servo-franka/servoFrankaIBVS.cpp
+++ b/example/servo-franka/servoFrankaIBVS.cpp
@@ -116,7 +116,7 @@ int main(int argc, char **argv)
   double convergence_threshold = 0.00005;
 
   for (int i = 1; i < argc; i++) {
-    if ((std::string(argv[i]) == "--tag_size") && (i + 1 < argc)) {
+    if ((std::string(argv[i]) == "--tag-size") && (i + 1 < argc)) {
       opt_tagSize = std::stod(argv[i + 1]);
       ++i;
     }
@@ -134,13 +134,13 @@ int main(int argc, char **argv)
     else if (std::string(argv[i]) == "--plot") {
       opt_plot = true;
     }
-    else if (std::string(argv[i]) == "--adaptive_gain") {
+    else if (std::string(argv[i]) == "--adaptive-gain") {
       opt_adaptive_gain = true;
     }
-    else if (std::string(argv[i]) == "--task_sequencing") {
+    else if (std::string(argv[i]) == "--task-sequencing") {
       opt_task_sequencing = true;
     }
-    else if ((std::string(argv[i]) == "--quad_decimate") && (i + 1 < argc)) {
+    else if ((std::string(argv[i]) == "--quad-decimate") && (i + 1 < argc)) {
       opt_quad_decimate = std::stoi(argv[i + 1]);
       ++i;
     }
@@ -148,12 +148,57 @@ int main(int argc, char **argv)
       convergence_threshold = 0.;
     }
     else if ((std::string(argv[i]) == "--help") || (std::string(argv[i]) == "-h")) {
-      std::cout
-        << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--tag_size <marker size in meter; default "
-        << opt_tagSize << ">] [--eMc <eMc extrinsic file>] "
-        << "[--quad_decimate <decimation; default " << opt_quad_decimate
-        << ">] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]"
+      std::cout << "SYNOPSYS" << std::endl
+        << "  " << argv[0]
+        << " [--ip <controller ip>]"
+        << " [--tag-size <size>]"
+        << " [--eMc <extrinsic transformation file>]"
+        << " [--quad-decimate <decimation factor>]"
+        << " [--adaptive-gain]"
+        << " [--plot]"
+        << " [--task-sequencing]"
+        << " [--no-convergence-threshold]"
+        << " [--verbose]"
+        << " [--help] [-h]\n"
         << std::endl;
+      std::cout << "DESCRIPTION" << std::endl
+        << "  Use an image-based visual-servoing scheme to position the camera in front of an Apriltag." << std::endl
+        << std::endl
+        << "  --ip <controller ip>" << std::endl
+        << "    Franka controller ip address" << std::endl
+        << "    Default: " << opt_robot_ip << std::endl
+        << std::endl
+        << "  --tag-size <size>" << std::endl
+        << "    Apriltag size in [m]." << std::endl
+        << "    Default: " << opt_tagSize << " [m]" << std::endl
+        << std::endl
+        << "  --eMc <extrinsic transformation file>" << std::endl
+        << "    File containing the homogeneous transformation matrix between" << std::endl
+        << "    robot end-effector and camera frame." << std::endl
+        << std::endl
+        << "  --quad-decimate <decimation factor>" << std::endl
+        << "    Decimation factor used during Apriltag detection." << std::endl
+        << "    Default: " << opt_quad_decimate << std::endl
+        << std::endl
+        << "  --adaptive-gain" << std::endl
+        << "    Flag to enable adaptive gain to speed up visual servo near convergence." << std::endl
+        << std::endl
+        << "  --plot" << std::endl
+        << "    Flag to enable curve plotter." << std::endl
+        << std::endl
+        << "  --task-sequencing" << std::endl
+        << "    Flag to enable task sequencing scheme." << std::endl
+        << std::endl
+        << "  --no-convergence-threshold" << std::endl
+        << "    Flag to disable convergence threshold used to stop the visual servo." << std::endl
+        << std::endl
+        << "  --verbose" << std::endl
+        << "    Flag to enable extra verbosity." << std::endl
+        << std::endl
+        << "  --help, -h" << std::endl
+        << "    Print this helper message." << std::endl
+        << std::endl;
+
       return EXIT_SUCCESS;
     }
   }
diff --git a/example/servo-franka/servoFrankaPBVS.cpp b/example/servo-franka/servoFrankaPBVS.cpp
index 31a7e44161..ba6edba196 100644
--- a/example/servo-franka/servoFrankaPBVS.cpp
+++ b/example/servo-franka/servoFrankaPBVS.cpp
@@ -147,11 +147,55 @@ int main(int argc, char **argv)
       convergence_threshold_tu = 0.;
     }
     else if ((std::string(argv[i]) == "--help") || (std::string(argv[i]) == "-h")) {
-      std::cout
-        << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--tag_size <marker size in meter; default "
-        << opt_tagSize << ">] [--eMc <eMc extrinsic file>] "
-        << "[--quad_decimate <decimation; default " << opt_quad_decimate
-        << ">] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]"
+      std::cout << "SYNOPSYS" << std::endl
+        << "  " << argv[0]
+        << " [--ip <controller ip>]"
+        << " [--tag-size <size>]"
+        << " [--eMc <extrinsic transformation file>]"
+        << " [--quad-decimate <decimation factor>]"
+        << " [--adaptive-gain]"
+        << " [--plot]"
+        << " [--task-sequencing]"
+        << " [--no-convergence-threshold]"
+        << " [--verbose]"
+        << " [--help] [-h]\n"
+        << std::endl;
+      std::cout << "DESCRIPTION" << std::endl
+        << "  Use a position-based visual-servoing scheme to position the camera in front of an Apriltag." << std::endl
+        << std::endl
+        << "  --ip <controller ip>" << std::endl
+        << "    Franka controller ip address" << std::endl
+        << "    Default: " << opt_robot_ip << std::endl
+        << std::endl
+        << "  --tag-size <size>" << std::endl
+        << "    Apriltag size in [m]." << std::endl
+        << "    Default: " << opt_tagSize << " [m]" << std::endl
+        << std::endl
+        << "  --eMc <extrinsic transformation file>" << std::endl
+        << "    File containing the homogeneous transformation matrix between" << std::endl
+        << "    robot end-effector and camera frame." << std::endl
+        << std::endl
+        << "  --quad-decimate <decimation factor>" << std::endl
+        << "    Decimation factor used during Apriltag detection." << std::endl
+        << "    Default: " << opt_quad_decimate << std::endl
+        << std::endl
+        << "  --adaptive-gain" << std::endl
+        << "    Flag to enable adaptive gain to speed up visual servo near convergence." << std::endl
+        << std::endl
+        << "  --plot" << std::endl
+        << "    Flag to enable curve plotter." << std::endl
+        << std::endl
+        << "  --task-sequencing" << std::endl
+        << "    Flag to enable task sequencing scheme." << std::endl
+        << std::endl
+        << "  --no-convergence-threshold" << std::endl
+        << "    Flag to disable convergence threshold used to stop the visual servo." << std::endl
+        << std::endl
+        << "  --verbose" << std::endl
+        << "    Flag to enable extra verbosity." << std::endl
+        << std::endl
+        << "  --help, -h" << std::endl
+        << "    Print this helper message." << std::endl
         << std::endl;
       return EXIT_SUCCESS;
     }