diff --git a/CMakeLists.txt b/CMakeLists.txt
index 87500074b0..714d241598 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,7 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 
 # Define here the needed parameters
 set (OPENRAVE_VERSION_MAJOR 0)
-set (OPENRAVE_VERSION_MINOR 160)
+set (OPENRAVE_VERSION_MINOR 161)
 set (OPENRAVE_VERSION_PATCH 0)
 set (OPENRAVE_VERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR}.${OPENRAVE_VERSION_PATCH})
 set (OPENRAVE_SOVERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR})
diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index 495070c65b..861e2ba4c9 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -3,6 +3,12 @@
 ChangeLog
 #########
 
+Version 0.161.0
+===============
+
+- Remove the code for back electromotive force from torque limit calculation APIs.
+- Add common utility function for torque limit calculation.
+
 Version 0.160.0
 ===============
 
diff --git a/include/openrave/kinbody.h b/include/openrave/kinbody.h
index f8791b02e9..b9156a1243 100644
--- a/include/openrave/kinbody.h
+++ b/include/openrave/kinbody.h
@@ -2200,6 +2200,16 @@ class OPENRAVE_API KinBody : public InterfaceBase
         /// \brief Return the velocity of the specified joint axis only.
         dReal _GetVelocity(int axis, const std::pair<Vector,Vector>&linkparentvelocity, const std::pair<Vector,Vector>&linkchildvelocity) const;
 
+        /// \brief compute torque limit from speed torque points.
+        /// \param[in] iaxis : index of axis.
+        /// \param[in] electricMotorActuatorInfo : electrical motor actuator info.
+        /// \param[in] vSpeedTorquePoints : vector of pairs of speed and torque, which is coming from electrical motor actuator info.
+        /// \param[in] fDefaultTorqueLimit : if vSpeedTorquePoints is empty, this value is used.
+        dReal _GetTorqueLimitFromSpeedTorquePoints(const int iaxis,
+                                                   const ElectricMotorActuatorInfo& electricMotorActuatorInfo,
+                                                   const std::vector<std::pair<dReal, dReal> >& vSpeedTorquePoints,
+                                                   const dReal fDefaultTorqueLimit) const;
+
         boost::array<dReal,3> _doflastsetvalues; ///< the last set value by the kinbody (_voffsets not applied). For revolute joints that have a range greater than 2*pi, it is only possible to recover the joint value from the link positions mod 2*pi. In order to recover the branch, multiplies of 2*pi are added/subtracted to this value that is closest to _doflastsetvalues. For circular joints, the last set value can be ignored since they always return a value from [-pi,pi)
 
 private:
diff --git a/src/libopenrave/kinbodyjoint.cpp b/src/libopenrave/kinbodyjoint.cpp
index 519529abce..8fcb98e3fd 100644
--- a/src/libopenrave/kinbodyjoint.cpp
+++ b/src/libopenrave/kinbodyjoint.cpp
@@ -1907,49 +1907,63 @@ void KinBody::Joint::AddTorque(const std::vector<dReal>& pTorques)
     GetParent()->GetEnv()->GetPhysicsEngine()->AddJointTorque(shared_from_this(), pTorques);
 }
 
+dReal KinBody::Joint::_GetTorqueLimitFromSpeedTorquePoints(const int iaxis,
+                                                           const ElectricMotorActuatorInfo& electricMotorActuatorInfo,
+                                                           const std::vector<std::pair<dReal, dReal> >& vSpeedTorquePoints,
+                                                           const dReal fDefaultTorqueLimit) const
+{
+    if( vSpeedTorquePoints.size() > 0 ) {
+        const std::pair<dReal, dReal>& firstSpeedTorquePoint = vSpeedTorquePoints[0];
+        if( vSpeedTorquePoints.size() == 1 ) {
+            // doesn't matter what the velocity is
+            return firstSpeedTorquePoint.second*electricMotorActuatorInfo.gear_ratio;
+        }
+
+        const dReal rawvelocity = GetVelocity(iaxis);
+        const dReal velocity = RaveFabs(rawvelocity);
+        dReal revolutionsPerSecond = electricMotorActuatorInfo.gear_ratio * velocity;
+        if( IsRevolute(iaxis) ) {
+            revolutionsPerSecond /= 2*M_PI;
+        }
+
+        if( revolutionsPerSecond <= firstSpeedTorquePoint.first ) {
+            return firstSpeedTorquePoint.second*electricMotorActuatorInfo.gear_ratio;
+        }
+
+        for(size_t i = 1; i < vSpeedTorquePoints.size(); ++i) {
+            const std::pair<dReal, dReal>& speedTorquePoint1 = vSpeedTorquePoints[i];
+            if( revolutionsPerSecond <= speedTorquePoint1.first ) {
+                // linearly interpolate to get the desired torque
+                const std::pair<dReal, dReal>& speedTorquePoint0 = vSpeedTorquePoints[i-1];
+                const dReal rps0 = speedTorquePoint0.first;
+                const dReal torque0 = speedTorquePoint0.second;
+                const dReal rps1 = speedTorquePoint1.first;
+                const dReal torque1 = speedTorquePoint1.second;
+                if( rps1 - rps0 <= g_fEpsilonLinear ) {
+                    return torque1*electricMotorActuatorInfo.gear_ratio;
+                }
+                else {
+                    return ((revolutionsPerSecond - rps0)/(rps1 - rps0)*(torque1-torque0) + torque0)*electricMotorActuatorInfo.gear_ratio;
+                }
+            }
+        }
+
+        // revolutionsPerSecond is huge, return the last point
+        return vSpeedTorquePoints.back().second*electricMotorActuatorInfo.gear_ratio;
+    }
+    else {
+        return fDefaultTorqueLimit*electricMotorActuatorInfo.gear_ratio;
+    }
+}
+
 dReal KinBody::Joint::GetMaxTorque(int iaxis) const
 {
     if( !_info._infoElectricMotor ) {
         return _info._vmaxtorque.at(iaxis);
     }
     else {
-        if( _info._infoElectricMotor->max_speed_torque_points.size() > 0 ) {
-            if( _info._infoElectricMotor->max_speed_torque_points.size() == 1 ) {
-                // doesn't matter what the velocity is
-                return _info._infoElectricMotor->max_speed_torque_points.at(0).second*_info._infoElectricMotor->gear_ratio;
-            }
-
-            dReal velocity = RaveFabs(GetVelocity(iaxis));
-            dReal revolutionsPerSecond = _info._infoElectricMotor->gear_ratio * velocity;
-            if( IsRevolute(iaxis) ) {
-                revolutionsPerSecond /= 2*M_PI;
-            }
-
-            if( revolutionsPerSecond <= _info._infoElectricMotor->max_speed_torque_points.at(0).first ) {
-                return _info._infoElectricMotor->max_speed_torque_points.at(0).second*_info._infoElectricMotor->gear_ratio;
-            }
-
-            for(size_t i = 1; i < _info._infoElectricMotor->max_speed_torque_points.size(); ++i) {
-                if( revolutionsPerSecond <= _info._infoElectricMotor->max_speed_torque_points.at(i).first ) {
-                    // linearly interpolate to get the desired torque
-                    dReal rps0 = _info._infoElectricMotor->max_speed_torque_points.at(i-1).first;
-                    dReal torque0 = _info._infoElectricMotor->max_speed_torque_points.at(i-1).second;
-                    dReal rps1 = _info._infoElectricMotor->max_speed_torque_points.at(i).first;
-                    dReal torque1 = _info._infoElectricMotor->max_speed_torque_points.at(i).second;
-                    if( rps1 - rps0 <= g_fEpsilonLinear ) {
-                        return torque1*_info._infoElectricMotor->gear_ratio;
-                    }
-
-                    return ((revolutionsPerSecond - rps0)/(rps1 - rps0)*(torque1-torque0) + torque0)*_info._infoElectricMotor->gear_ratio;
-                }
-            }
-
-            // revolutionsPerSecond is huge, return the last point
-            return _info._infoElectricMotor->max_speed_torque_points.back().second*_info._infoElectricMotor->gear_ratio;
-        }
-        else {
-            return _info._infoElectricMotor->max_instantaneous_torque*_info._infoElectricMotor->gear_ratio;
-        }
+        const ElectricMotorActuatorInfo& electricMotorActuatorInfo = *_info._infoElectricMotor;
+        return _GetTorqueLimitFromSpeedTorquePoints(iaxis, electricMotorActuatorInfo, electricMotorActuatorInfo.max_speed_torque_points, electricMotorActuatorInfo.max_instantaneous_torque);
     }
 }
 
@@ -1959,70 +1973,10 @@ std::pair<dReal, dReal> KinBody::Joint::GetInstantaneousTorqueLimits(int iaxis)
         return std::make_pair(-_info._vmaxtorque.at(iaxis), _info._vmaxtorque.at(iaxis));
     }
     else {
-        if( _info._infoElectricMotor->max_speed_torque_points.size() > 0 ) {
-            dReal fMaxTorqueAtZeroSpeed = _info._infoElectricMotor->max_speed_torque_points.at(0).second*_info._infoElectricMotor->gear_ratio;
-            if( _info._infoElectricMotor->max_speed_torque_points.size() == 1 ) {
-                // doesn't matter what the velocity is
-                return std::make_pair(-fMaxTorqueAtZeroSpeed, fMaxTorqueAtZeroSpeed);
-            }
-
-            dReal rawvelocity = GetVelocity(iaxis);
-            dReal velocity = RaveFabs(rawvelocity);
-            dReal revolutionsPerSecond = _info._infoElectricMotor->gear_ratio * velocity;
-            if( IsRevolute(iaxis) ) {
-                revolutionsPerSecond /= 2*M_PI;
-            }
-
-            if( revolutionsPerSecond <= _info._infoElectricMotor->max_speed_torque_points.at(0).first ) {
-                return std::make_pair(-fMaxTorqueAtZeroSpeed, fMaxTorqueAtZeroSpeed);
-            }
-
-            for(size_t i = 1; i < _info._infoElectricMotor->max_speed_torque_points.size(); ++i) {
-                if( revolutionsPerSecond <= _info._infoElectricMotor->max_speed_torque_points.at(i).first ) {
-                    // linearly interpolate to get the desired torque
-                    dReal rps0 = _info._infoElectricMotor->max_speed_torque_points.at(i-1).first;
-                    dReal torque0 = _info._infoElectricMotor->max_speed_torque_points.at(i-1).second;
-                    dReal rps1 = _info._infoElectricMotor->max_speed_torque_points.at(i).first;
-                    dReal torque1 = _info._infoElectricMotor->max_speed_torque_points.at(i).second;
-
-                    dReal finterpolatedtorque;
-                    if( rps1 - rps0 <= g_fEpsilonLinear ) {
-                        finterpolatedtorque = torque1*_info._infoElectricMotor->gear_ratio;
-                    }
-                    else {
-                        finterpolatedtorque = ((revolutionsPerSecond - rps0)/(rps1 - rps0)*(torque1-torque0) + torque0)*_info._infoElectricMotor->gear_ratio;
-                    }
-
-                    // due to back emf, the deceleration magnitude is less than acceleration?
-                    if (abs(rawvelocity) < 1.0/360) {
-                        return std::make_pair(-finterpolatedtorque, finterpolatedtorque);
-                    }
-                    else if( rawvelocity > 0 ) {
-                        return std::make_pair(-0.9*finterpolatedtorque, finterpolatedtorque);
-                    }
-                    else {
-                        return std::make_pair(-finterpolatedtorque, 0.9*finterpolatedtorque);
-                    }
-                }
-            }
-
-            // due to back emf, the deceleration magnitude is less than acceleration?
-            // revolutionsPerSecond is huge, return the last point
-            dReal f = _info._infoElectricMotor->max_speed_torque_points.back().second*_info._infoElectricMotor->gear_ratio;
-            if (abs(rawvelocity) < 1.0/360) {
-                return std::make_pair(-f, f);
-            }
-            else if( rawvelocity > 0 ) {
-                return std::make_pair(-0.9*f, f);
-            }
-            else {
-                return std::make_pair(-f, 0.9*f);
-            }
-        }
-        else {
-            dReal f = _info._infoElectricMotor->max_instantaneous_torque*_info._infoElectricMotor->gear_ratio;
-            return std::make_pair(-f, f);
-        }
+        const ElectricMotorActuatorInfo& electricMotorActuatorInfo = *_info._infoElectricMotor;
+        const dReal fLimit = _GetTorqueLimitFromSpeedTorquePoints(iaxis, electricMotorActuatorInfo, electricMotorActuatorInfo.max_speed_torque_points, electricMotorActuatorInfo.max_instantaneous_torque);
+        // TODO : if we'll need to consider the back electromotive force (emf), re-think the formulation and then add the corrsponding parameters to ElectricMotorActuatorInfo
+        return std::make_pair(-fLimit, fLimit);
     }
 }
 
@@ -2032,70 +1986,10 @@ std::pair<dReal, dReal> KinBody::Joint::GetNominalTorqueLimits(int iaxis) const
         return std::make_pair(-_info._vmaxtorque.at(iaxis), _info._vmaxtorque.at(iaxis));
     }
     else {
-        if( _info._infoElectricMotor->nominal_speed_torque_points.size() > 0 ) {
-            dReal fMaxTorqueAtZeroSpeed = _info._infoElectricMotor->nominal_speed_torque_points.at(0).second*_info._infoElectricMotor->gear_ratio;
-            if( _info._infoElectricMotor->nominal_speed_torque_points.size() == 1 ) {
-                // doesn't matter what the velocity is
-                return std::make_pair(-fMaxTorqueAtZeroSpeed, fMaxTorqueAtZeroSpeed);
-            }
-
-            dReal rawvelocity = GetVelocity(iaxis);
-            dReal velocity = RaveFabs(rawvelocity);
-            dReal revolutionsPerSecond = _info._infoElectricMotor->gear_ratio * velocity;
-            if( IsRevolute(iaxis) ) {
-                revolutionsPerSecond /= 2*M_PI;
-            }
-
-            if( revolutionsPerSecond <= _info._infoElectricMotor->nominal_speed_torque_points.at(0).first ) {
-                return std::make_pair(-fMaxTorqueAtZeroSpeed, fMaxTorqueAtZeroSpeed);
-            }
-
-            for(size_t i = 1; i < _info._infoElectricMotor->nominal_speed_torque_points.size(); ++i) {
-                if( revolutionsPerSecond <= _info._infoElectricMotor->nominal_speed_torque_points.at(i).first ) {
-                    // linearly interpolate to get the desired torque
-                    dReal rps0 = _info._infoElectricMotor->nominal_speed_torque_points.at(i-1).first;
-                    dReal torque0 = _info._infoElectricMotor->nominal_speed_torque_points.at(i-1).second;
-                    dReal rps1 = _info._infoElectricMotor->nominal_speed_torque_points.at(i).first;
-                    dReal torque1 = _info._infoElectricMotor->nominal_speed_torque_points.at(i).second;
-
-                    dReal finterpolatedtorque;
-                    if( rps1 - rps0 <= g_fEpsilonLinear ) {
-                        finterpolatedtorque = torque1*_info._infoElectricMotor->gear_ratio;
-                    }
-                    else {
-                        finterpolatedtorque = ((revolutionsPerSecond - rps0)/(rps1 - rps0)*(torque1-torque0) + torque0)*_info._infoElectricMotor->gear_ratio;
-                    }
-
-                    // due to back emf, the deceleration magnitude is less than acceleration?
-                    if (abs(rawvelocity) < 1.0/360) {
-                        return std::make_pair(-finterpolatedtorque, finterpolatedtorque);
-                    }
-                    else if( rawvelocity > 0 ) {
-                        return std::make_pair(-0.9*finterpolatedtorque, finterpolatedtorque);
-                    }
-                    else {
-                        return std::make_pair(-finterpolatedtorque, 0.9*finterpolatedtorque);
-                    }
-                }
-            }
-
-            // due to back emf, the deceleration magnitude is less than acceleration?
-            // revolutionsPerSecond is huge, return the last point
-            dReal f = _info._infoElectricMotor->nominal_speed_torque_points.back().second*_info._infoElectricMotor->gear_ratio;
-            if (abs(rawvelocity) < 1.0/360) {
-                return std::make_pair(-f, f);
-            }
-            else if( rawvelocity > 0 ) {
-                return std::make_pair(-0.9*f, f);
-            }
-            else {
-                return std::make_pair(-f, 0.9*f);
-            }
-        }
-        else {
-            dReal f = _info._infoElectricMotor->nominal_torque*_info._infoElectricMotor->gear_ratio;
-            return std::make_pair(-f, f);
-        }
+        const ElectricMotorActuatorInfo& electricMotorActuatorInfo = *_info._infoElectricMotor;
+        const dReal fLimit = _GetTorqueLimitFromSpeedTorquePoints(iaxis, electricMotorActuatorInfo, electricMotorActuatorInfo.nominal_speed_torque_points, electricMotorActuatorInfo.nominal_torque);
+        // TODO : if we'll need to consider the back electromotive force (emf), re-think the formulation and then add the corrsponding parameters to ElectricMotorActuatorInfo
+        return std::make_pair(-fLimit, fLimit);
     }
 }