diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0d88f7faa4dcb5825741be91e97a299d960242f4..b51f947910879a73e0a95ef13b787c9626cc4f96 100644
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+++ b/CHANGELOG.md
@@ -1,11 +1,11 @@
 # CHANGELOG
 
-## 0.4.1 - UNRELEASED
+## 0.4.1 - 2018-06-21
 
 Requires `libfranka` >= 0.3.0
 
   * Added some missing includes to `franka_hw`
-  * Allow elbow commanding in Cartesian pose and Cartesian velocity interface.
+  * Add support for commanding elbow in Cartesian pose and Cartesian velocity interfaces
 
 ## 0.4.0 - 2018-03-26