def METHOD_NAME(self, joint_name, value):
    """
    Set maximum force for hand
    @param value - maximum force value
    """
    joint_name = self.strip_prefix(joint_name)
    if not self.__set_force_srv.get(joint_name):
        service_name = "sr_hand_robot/" + self._topic_prefix + \
                       "change_force_PID_" + joint_name.upper()
        self.__set_force_srv[joint_name] = \
            rospy.ServiceProxy(service_name,
                               ForceController)
    # get the current settings for the motor
    motor_settings = None
    try:
        motor_settings = rospy.get_param(self._topic_prefix +
                                         joint_name.lower() + "/pid")
    except KeyError as exception:
        rospy.logerr("Couldn't get the motor parameters for joint " +
                     joint_name + " -> " + str(exception))
    motor_settings["torque_limit"] = value
    try:
        # reorder parameters in the expected order since names don't match:
        self.__set_force_srv[joint_name](motor_settings["max_pwm"],
                                         motor_settings["sg_left"],
                                         motor_settings["sg_right"],
                                         motor_settings["f"],
                                         motor_settings["p"],
                                         motor_settings["i"],
                                         motor_settings["d"],
                                         motor_settings["imax"],
                                         motor_settings["deadband"],
                                         motor_settings["sign"],
                                         motor_settings["torque_limit"],
                                         motor_settings["torque_limiter_gain"])
    except rospy.ServiceException as exception:
        rospy.logerr("Couldn't set the max force for joint " +
                     joint_name + ": " + str(exception))