diff --git a/include/franky/robot_pose.hpp b/include/franky/robot_pose.hpp
index 273c32fe..939070f7 100644
--- a/include/franky/robot_pose.hpp
+++ b/include/franky/robot_pose.hpp
@@ -9,8 +9,7 @@
 namespace franky {
 
 /**
- * @class RobotPose
- * @brief A class to represent the cartesian pose of a robot.
+ * @brief Represents the cartesian pose of a robot.
  *
  * This class encapsulates the cartesian pose of a robot, which comprises the end effector pose and the elbow position.
  */
diff --git a/include/franky/robot_velocity.hpp b/include/franky/robot_velocity.hpp
index caf9a1c7..eb599451 100644
--- a/include/franky/robot_velocity.hpp
+++ b/include/franky/robot_velocity.hpp
@@ -10,8 +10,10 @@
 namespace franky {
 
 /**
- * @brief Class to represent  the cartesian velocity of a robot. It comprists the twist of the end effector and the
- * joint velocity of the elbow.
+ * @brief Represents the cartesian velocity of a robot.
+ *
+ * This class encapsulates the cartesian velocity of a robot, which comproses the end effector twist and the elbow
+ * velocity.
  */
 class RobotVelocity {
  public:
diff --git a/include/franky/twist.hpp b/include/franky/twist.hpp
index 024c89c9..fb24d324 100644
--- a/include/franky/twist.hpp
+++ b/include/franky/twist.hpp
@@ -7,7 +7,7 @@
 namespace franky {
 
 /**
- * @brief Class to represent the twist of a robot.
+ * @brief Represents the twist of a frame.
  */
 class Twist {
  public: