diff --git a/sr_robot_lib/include/sr_robot_lib/sr_joint_motor.hpp b/sr_robot_lib/include/sr_robot_lib/sr_joint_motor.hpp
index 98bfe733..cc21d26f 100644
--- a/sr_robot_lib/include/sr_robot_lib/sr_joint_motor.hpp
+++ b/sr_robot_lib/include/sr_robot_lib/sr_joint_motor.hpp
@@ -186,6 +186,8 @@ struct Joint
   sr_math_utils::filters::LowPassFilter pos_filter;
   // used to filter the effort
   sr_math_utils::filters::LowPassFilter effort_filter;
+  // used to filter the position and the velocity of a second joint
+  sr_math_utils::filters::LowPassFilter pos_filter_2;
 
   bool has_actuator;
   boost::shared_ptr<SrActuatorWrapper> actuator_wrapper;
diff --git a/sr_robot_lib/src/sr_motor_hand_lib.cpp b/sr_robot_lib/src/sr_motor_hand_lib.cpp
index c3f2b4eb..1287df8d 100644
--- a/sr_robot_lib/src/sr_motor_hand_lib.cpp
+++ b/sr_robot_lib/src/sr_motor_hand_lib.cpp
@@ -150,6 +150,17 @@ namespace shadow_robot
       joint.joint_name = joint_names[index];
       joint.joint_to_sensor = joint_to_sensors[index];
 
+      if ((!joint.joint_to_sensor.calibrate_after_combining_sensors)
+         && (joint.joint_to_sensor.joint_to_sensor_vector.size() == 2))
+      {
+        joint.pos_filter_2 = sr_math_utils::filters::LowPassFilter(tau);
+      }
+
+      full_param << act_name << "/effort_filter/tau";
+      this->nodehandle_.template param<float>(full_param.str(), tau, 0.05);
+      full_param.str("");
+      joint.effort_filter = sr_math_utils::filters::LowPassFilter(tau);
+
       if (actuator_ids[index] != -1)
       {
         joint.has_actuator = true;
diff --git a/sr_robot_lib/src/sr_motor_robot_lib.cpp b/sr_robot_lib/src/sr_motor_robot_lib.cpp
index 3ec373c7..b20b3739 100644
--- a/sr_robot_lib/src/sr_motor_robot_lib.cpp
+++ b/sr_robot_lib/src/sr_motor_robot_lib.cpp
@@ -1024,13 +1024,38 @@ namespace shadow_robot
     // calibrate the joint and update the position.
     calibrate_joint(joint_tmp, status_data);
 
-    // filter the position and velocity
-    pair<double, double> pos_and_velocity = joint_tmp->pos_filter.compute(actuator->motor_state_.position_unfiltered_,
-                                                                          timestamp);
-    // reset the position to the filtered value
-    actuator->state_.position_ = pos_and_velocity.first;
-    // set the velocity to the filtered velocity
-    actuator->state_.velocity_ = pos_and_velocity.second;
+    if ((!joint_tmp->joint_to_sensor.calibrate_after_combining_sensors)
+        && (joint_tmp->joint_to_sensor.joint_to_sensor_vector.size() == 2))
+    {
+      actuator->motor_state_.filtered_calibrated_position_values_.clear();
+      actuator->motor_state_.filtered_calibrated_velocity_values_.clear();
+
+      // filter the position and velocity
+      pair<double, double> pos_and_velocity = joint_tmp->pos_filter.compute(actuator->motor_state_.calibrated_sensor_values_[0],
+                                                                            timestamp);
+      // set the position to the filtered value
+      actuator->motor_state_.filtered_calibrated_position_values_.push_back(pos_and_velocity.first);
+      // set the velocity to the filtered velocity
+      actuator->motor_state_.filtered_calibrated_velocity_values_.push_back(pos_and_velocity.second);
+
+      // filter the position and velocity for the second joint
+      pos_and_velocity = joint_tmp->pos_filter_2.compute(actuator->motor_state_.calibrated_sensor_values_[1],
+                                                                            timestamp);
+      // set the position to the filtered value for the second joint
+      actuator->motor_state_.filtered_calibrated_position_values_.push_back(pos_and_velocity.first);
+      // set the velocity to the filtered velocity for the second joint
+      actuator->motor_state_.filtered_calibrated_velocity_values_.push_back(pos_and_velocity.second);
+    }
+    else
+    {
+      // filter the position and velocity
+      pair<double, double> pos_and_velocity = joint_tmp->pos_filter.compute(actuator->motor_state_.position_unfiltered_,
+                                                                            timestamp);
+      // reset the position to the filtered value
+      actuator->state_.position_ = pos_and_velocity.first;
+      // set the velocity to the filtered velocity
+      actuator->state_.velocity_ = pos_and_velocity.second;
+    }
   }
 
   template<class StatusType, class CommandType>