diff --git a/lerobot/common/robots/hope_jr/hope_jr_hand.py b/lerobot/common/robots/hope_jr/hope_jr_hand.py
index f2a211d5..49f6d199 100644
--- a/lerobot/common/robots/hope_jr/hope_jr_hand.py
+++ b/lerobot/common/robots/hope_jr/hope_jr_hand.py
@@ -44,32 +44,43 @@ class HopeJrHand(Robot):
             port=self.config.port,
             motors={
                 # Thumb
-                "thumb_cmc": Motor(1, "scs0009", MotorNormMode.RANGE_M100_100),
-                "thumb_mcp": Motor(2, "scs0009", MotorNormMode.RANGE_M100_100),
-                "thumb_pip": Motor(3, "scs0009", MotorNormMode.RANGE_M100_100),
-                "thumb_dip": Motor(4, "scs0009", MotorNormMode.RANGE_M100_100),
+                "thumb_cmc": Motor(1, "scs0009", MotorNormMode.RANGE_0_100),
+                "thumb_mcp": Motor(2, "scs0009", MotorNormMode.RANGE_0_100),
+                "thumb_pip": Motor(3, "scs0009", MotorNormMode.RANGE_0_100),
+                "thumb_dip": Motor(4, "scs0009", MotorNormMode.RANGE_0_100),
                 # Index
-                "index_radial_flexor": Motor(5, "scs0009", MotorNormMode.RANGE_M100_100),
-                "index_ulnar_flexor": Motor(6, "scs0009", MotorNormMode.RANGE_M100_100),
-                "index_pip_dip": Motor(7, "scs0009", MotorNormMode.RANGE_M100_100),
+                "index_radial_flexor": Motor(5, "scs0009", MotorNormMode.RANGE_0_100),
+                "index_ulnar_flexor": Motor(6, "scs0009", MotorNormMode.RANGE_0_100),
+                "index_pip_dip": Motor(7, "scs0009", MotorNormMode.RANGE_0_100),
                 # Middle
-                "middle_radial_flexor": Motor(8, "scs0009", MotorNormMode.RANGE_M100_100),
-                "middle_ulnar_flexor": Motor(9, "scs0009", MotorNormMode.RANGE_M100_100),
-                "middle_pip_dip": Motor(10, "scs0009", MotorNormMode.RANGE_M100_100),
+                "middle_radial_flexor": Motor(8, "scs0009", MotorNormMode.RANGE_0_100),
+                "middle_ulnar_flexor": Motor(9, "scs0009", MotorNormMode.RANGE_0_100),
+                "middle_pip_dip": Motor(10, "scs0009", MotorNormMode.RANGE_0_100),
                 # Ring
-                "ring_radial_flexor": Motor(11, "scs0009", MotorNormMode.RANGE_M100_100),
-                "ring_ulnar_flexor": Motor(12, "scs0009", MotorNormMode.RANGE_M100_100),
-                "ring_pip_dip": Motor(13, "scs0009", MotorNormMode.RANGE_M100_100),
+                "ring_radial_flexor": Motor(11, "scs0009", MotorNormMode.RANGE_0_100),
+                "ring_ulnar_flexor": Motor(12, "scs0009", MotorNormMode.RANGE_0_100),
+                "ring_pip_dip": Motor(13, "scs0009", MotorNormMode.RANGE_0_100),
                 # Pinky
-                "pinky_radial_flexor": Motor(14, "scs0009", MotorNormMode.RANGE_M100_100),
-                "pinky_ulnar_flexor": Motor(15, "scs0009", MotorNormMode.RANGE_M100_100),
-                "pinky_pip_dip": Motor(16, "scs0009", MotorNormMode.RANGE_M100_100),
+                "pinky_radial_flexor": Motor(14, "scs0009", MotorNormMode.RANGE_0_100),
+                "pinky_ulnar_flexor": Motor(15, "scs0009", MotorNormMode.RANGE_0_100),
+                "pinky_pip_dip": Motor(16, "scs0009", MotorNormMode.RANGE_0_100),
             },
             calibration=self.calibration,
             protocol_version=1,
         )
         self.cameras = make_cameras_from_configs(config.cameras)
 
+        self.inverted_motors = [
+            "thumb_mcp",
+            "thumb_dip",
+            "index_ulnar_flexor",
+            "middle_ulnar_flexor",
+            "ring_ulnar_flexor",
+            "ring_pip_dip",
+            "pinky_ulnar_flexor",
+            "pinky_pip_dip",
+        ]
+
     @property
     def _motors_ft(self) -> dict[str, type]:
         return {f"{motor}.pos": float for motor in self.bus.motors}
@@ -118,6 +129,8 @@ class HopeJrHand(Robot):
             fingers[finger] = [motor for motor in self.bus.motors if motor.startswith(finger)]
 
         self.calibration = RangeFinderGUI(self.bus, fingers).run()
+        for motor in self.inverted_motors:
+            self.calibration[motor].drive_mode = 1
         self._save_calibration()
         print("Calibration saved to", self.calibration_fpath)
 
diff --git a/lerobot/common/robots/hope_jr/joints_translation.py b/lerobot/common/robots/hope_jr/joints_translation.py
index c70a928c..155d147e 100644
--- a/lerobot/common/robots/hope_jr/joints_translation.py
+++ b/lerobot/common/robots/hope_jr/joints_translation.py
@@ -1,15 +1,17 @@
-INDEX_SPLAY = 0.1
+INDEX_SPLAY = 0.2
 MIDDLE_SPLAY = 0.1
 RING_SPLAY = 0.1
 PINKY_SPLAY = -0.1
 
 
 def get_ulnar_flexion(flexion: float, abduction: float, splay: float):
-    return (100 - abduction) * splay + flexion * (1 - splay)
+    ulnar_component = max(-abduction, 0)
+    return ulnar_component * splay + flexion * (1 - splay)
 
 
 def get_radial_flexion(flexion: float, abduction: float, splay: float):
-    return abduction * splay + flexion * (1 - splay)
+    radial_component = max(abduction, 0)
+    return radial_component * splay + flexion * (1 - splay)
 
 
 def homonculus_glove_to_hope_jr_hand(glove_action: dict[str, float]) -> dict[str, float]:
diff --git a/lerobot/common/teleoperators/homonculus/homonculus_glove.py b/lerobot/common/teleoperators/homonculus/homonculus_glove.py
index cb6b3cef..6f10dc03 100644
--- a/lerobot/common/teleoperators/homonculus/homonculus_glove.py
+++ b/lerobot/common/teleoperators/homonculus/homonculus_glove.py
@@ -77,11 +77,9 @@ class HomonculusGlove(Teleoperator):
 
         self.inverted_joints = [
             "thumb_cmc",
-            "thumb_dip",
             "index_dip",
             "middle_mcp_abduction",
             "middle_dip",
-            "ring_dip",
             "pinky_mcp_abduction",
             "pinky_dip",
         ]