diff --git a/urdf/include/urdf/joint.h b/urdf/include/urdf/joint.h
index edd8c6f..54064e6 100644
--- a/urdf/include/urdf/joint.h
+++ b/urdf/include/urdf/joint.h
@@ -101,7 +101,7 @@ public:
   ///
   /// if (joint_position is outside of the position range above)
   ///     velocity_limit_min = -JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_lower_limit)
-  ///     velocity_limit_max =  JointLimits::velocity - JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit)
+  ///     velocity_limit_max =  JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit)
   /// else
   ///     velocity_limit_min = -JointLimits::velocity
   ///     velocity_limit_max =  JointLimits::velocity
@@ -111,7 +111,7 @@ public:
   ///
   /// if (joint_velocity is outside of the velocity range above)
   ///     effort_limit_min = -JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_min)
-  ///     effort_limit_max =  JointLimits::effort - JointSafety::k_velocity * (joint_velocity - velocity_limit_max)
+  ///     effort_limit_max =  JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_max)
   /// else
   ///     effort_limit_min = -JointLimits::effort
   ///     effort_limit_max =  JointLimits::effort