diff --git a/include/hpp/manipulation/axial-handle.hh b/include/hpp/manipulation/axial-handle.hh
index 1f220e31d23e9f98814dd24fda57fa6758405ae5..12bc4dc6246cf6e1186c5a333bd46a028e0c308d 100644
--- a/include/hpp/manipulation/axial-handle.hh
+++ b/include/hpp/manipulation/axial-handle.hh
@@ -24,7 +24,8 @@
 
 namespace hpp {
   namespace manipulation {
-    /// Handle symmetric around its x-axis.
+    /// Handle symmetric around its z-axis. The constraint defined for a grasp
+    /// by a gripper is free to rotate around z-axis.
     class AxialHandle : public Handle
     {
     public: