diff --git a/docs/hands/fingertip_and_mma_mk5.md b/docs/hands/fingertip_and_mma_mk5.md
index 863dfb8fc..3b9d35ba4 100644
--- a/docs/hands/fingertip_and_mma_mk5.md
+++ b/docs/hands/fingertip_and_mma_mk5.md
@@ -46,21 +46,24 @@ The complete configuration set is as follow:
|ring | 0 | 1 | no | 1 | 17546 |
|pink | 1 | 0 | no | 0 | 17545 |
-#### ergoCub SN001
+#### ergoCub equipped with MMA rev. B (from ergoCub SN001)
+
+These robots are equipped with the MMA rev. B **IITCODE 16872.B**
| finger | AD0 | AD1 | IMU | I2C dataline | IIT code |
|:--:|:--:|:--:|:--:|:--:|:--:|
-|thumb | 0 | 0 | IIM-42652 | 0 | 17544.A |
-|index | 0 | 0 | IIM-42652 | 1 | 17544.A |
-|middle | 1 | 0 | LSM6DSLTR | 1 | 17545.A |
-|ring | 0 | 1 | no | 1 | 17546 |
-|pink | 1 | 0 | LSM6DSLTR | 0 | 17545.A |
+|thumb | 0 | 0 | IIM-42652 | 0 | 15467.B |
+|index | 0 | 0 | IIM-42652 | 1 | 15467.B |
+|middle | 0 | 0 | IIM-42652 | 2 | 15467.B |
+|ring | 0 | 0 | IIM-42652 | 3 | 15467.B |
+|pink | 0 | 0 | IIM-42652 | 4 | 15467.B |
+
+No customization of the boards is needed. They are purchased with the correct jumper configuration.
-#### ergoCub equipped with MMA rev. B
I2C dataline is decided at the MMA level through the connector assignment.
-The MTB to be mounted should be equipped with a dedicated firmware to enable the use of **PIN 7**
-in the connector as an additional I2C line.
+The MTB to be mounted should be equipped with a **dedicated firmware** to enable the use of **PIN 7**
+in the connector as an additional I2C line (SDA_4).
### Mounting the 3DMID
@@ -103,7 +106,7 @@ Plus:
Fig.4 - fixing the 3DMID to the soldering support.
-- Fix the 3DMID to the soldering support with 1.6x6mm screw.
+- Fix the 3DMID to the soldering support with **1.6x6mm** screw.
- Plug the soldering support on the base.