diff --git a/conf/iCubFindDependencies.cmake b/conf/iCubFindDependencies.cmake
index 6e879a841d..1c280035f8 100644
--- a/conf/iCubFindDependencies.cmake
+++ b/conf/iCubFindDependencies.cmake
@@ -64,7 +64,7 @@ checkandset_dependency(IPOPT)
 checkandset_dependency(OpenCV)
 checkandset_dependency(Qt5)
 
-set(MINIMUM_REQUIRED_icub_firmware_shared_VERSION 1.41.1)
+set(MINIMUM_REQUIRED_icub_firmware_shared_VERSION 1.41.2)
 
 if(icub_firmware_shared_FOUND AND ICUB_USE_icub_firmware_shared)
   if(icub_firmware_shared_VERSION VERSION_LESS ${MINIMUM_REQUIRED_icub_firmware_shared_VERSION})
diff --git a/src/libraries/icubmod/embObjMotionControl/eomcParser.cpp b/src/libraries/icubmod/embObjMotionControl/eomcParser.cpp
index c42193c942..44147870f6 100644
--- a/src/libraries/icubmod/embObjMotionControl/eomcParser.cpp
+++ b/src/libraries/icubmod/embObjMotionControl/eomcParser.cpp
@@ -2484,7 +2484,7 @@ bool Parser::parseLugreGroup(yarp::os::Searchable &config,std::vector<lugreParam
     {
         for (int j = 0; j<_njoints; ++j)
         {
-            lugre[j].Km = 1.0;
+            lugre[j].Km = -1.0;
         }
         
         yWarning() <<"embObjMC BOARD " << _boardname << "fromConfig(): Warning: no LUGRE group found in config file, returning";