diff --git a/CHANGELOG.md b/CHANGELOG.md
index f1723150187846044a768f8c333735207620fd9a..3c7654dec17c55715e919a5be786c1f3ff7b59d1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,9 @@
 # CHANGELOG
 
+## 0.4.0 - UNRELEASED
+
+  * Added `mimic` tag for gripper fingers to URDF
+
 ## 0.3.0 - 2018-02-22
 
 Requires `libfranka` >= 0.3.0
diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro
index 62e4554ceb8e3f740a22e41b2512a28d87579698..c00ef1afacaf8e47ce30a844edefdf6c1f91a71a 100644
--- a/franka_description/robots/hand.xacro
+++ b/franka_description/robots/hand.xacro
@@ -51,14 +51,15 @@
       <child link="${ns}_leftfinger"/>
       <origin xyz="0 0 0.0584" rpy="0 0 0"/>
       <axis xyz="0 1 0"/>
-      <limit effort="20" lower="-0.001" upper="0.04" velocity="0.3"/>
+      <limit effort="20" lower="0.0" upper="0.04" velocity="0.3"/>
     </joint>
     <joint name="${ns}_finger_joint2" type="prismatic">
       <parent link="${ns}_hand"/>
       <child link="${ns}_rightfinger"/>
       <origin xyz="0 0 0.0584" rpy="0 0 0"/>
       <axis xyz="0 -1 0"/>
-      <limit effort="20" lower="-0.001" upper="0.04" velocity="0.3"/>
+      <limit effort="20" lower="0.0" upper="0.04" velocity="0.3"/>
+      <mimic joint="${ns}_finger_joint1" />
     </joint>
   </xacro:macro>
 </robot>