diff --git a/hardware_interface/doc/mock_components_userdoc.rst b/hardware_interface/doc/mock_components_userdoc.rst
index 0b20a01302..8b69b04fda 100644
--- a/hardware_interface/doc/mock_components_userdoc.rst
+++ b/hardware_interface/doc/mock_components_userdoc.rst
@@ -28,9 +28,9 @@ Parameters
 ,,,,,,,,,,
 
 disable_commands (optional; boolean; default: false)
-  Disables mirroring command to states. 
+  Disables mirroring commands to states. 
   This option is helpful to simulate an erroneous connection to the hardware when nothing breaks, but suddenly there is no feedback from a hardware interface.
-  Or it can help you to test your setup when the hardware is running without feedback, i.e., in the open loop.
+  Or it can help you to test your setup when the hardware is running without feedback, i.e., in open loop configuration.
 
 mock_sensor_commands (optional; boolean; default: false)
   Creates fake command interfaces for faking sensor measurements with an external command.