diff --git a/docs/source/so101.mdx b/docs/source/so101.mdx
index 7c9df588a..1274b8282 100644
--- a/docs/source/so101.mdx
+++ b/docs/source/so101.mdx
@@ -236,10 +236,10 @@ It is advisable to install one 3-pin cable in the motor after placing them befor
 
 ### Joint 1
 
+- Install both motor horns. Secure the top horn with a M3x6mm screw. No screws are required for the bottom horn.
 - Place the first motor into the base.
 - Fasten the motor with 4 M2x6mm screws (smallest screws). Two from the top and two from the bottom.
 - Slide over the first motor holder and fasten it using two M2x6mm screws (one on each side).
-- Install both motor horns, securing the top horn with a M3x6mm screw.
 - Attach the shoulder part.
 - Tighten the shoulder part with 4 M3x6mm screws on top and 4 M3x6mm screws on the bottom
 - Add the shoulder motor holder.
@@ -255,9 +255,9 @@ It is advisable to install one 3-pin cable in the motor after placing them befor
 
 ### Joint 2
 
+- Install both motor horns. Secure the top horn with a M3x6mm screw. No screws are required for the bottom horn.
 - Slide the second motor in from the top.
 - Fasten the second motor with 4 M2x6mm screws.
-- Attach both motor horns to motor 2, again use the M3x6mm horn screw.
 - Attach the upper arm with 4 M3x6mm screws on each side.
 
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@@ -271,8 +271,8 @@ It is advisable to install one 3-pin cable in the motor after placing them befor
 
 ### Joint 3
 
-- Insert motor 3 and fasten using 4 M2x6mm screws
-- Attach both motor horns to motor 3 and secure one again with a M3x6mm horn screw.
+- Install both motor horns. Secure the top horn with a M3x6mm screw. No screws are required for the bottom horn.
+- Insert motor 3 and fasten using 4 M2x6mm screws.
 - Connect the forearm to motor 3 using 4 M3x6mm screws on each side.
 
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@@ -286,9 +286,10 @@ It is advisable to install one 3-pin cable in the motor after placing them befor
 
 ### Joint 4
 
+- Install both motor horns. Secure the top horn with a M3x6mm screw. No screws are required for the bottom horn.
 - Slide over motor holder 4.
 - Slide in motor 4.
-- Fasten motor 4 with 4 M2x6mm screws and attach its motor horns, use a M3x6mm horn screw.
+- Fasten motor 4 with 4 M2x6mm screws.
 
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   <video controls width="600">
@@ -321,7 +322,7 @@ It is advisable to install one 3-pin cable in the motor after placing them befor
 
 - Attach the gripper to motor 5, attach it to the motor horn on the wrist using 4 M3x6mm screws.
 - Insert the gripper motor and secure it with 2 M2x6mm screws on each side.
-- Attach the motor horns and again use a M3x6mm horn screw.
+- Install both motor horns on the gripper motor. Secure the top horn with a M3x6mm screw; no screws are required for the bottom horn.
 - Install the gripper claw and secure it with 4 M3x6mm screws on both sides.
 
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