diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2c0888fe..25c054ed 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,12 @@
 # Changelog
 
+## 0.1.4 - 2023-09-26
+
+Requires libfranka >= 0.12.1, required ROS 2 Humble
+
+* franka\_hardware: adapt to libfranka active control v0.12.1
+
+
 ## 0.1.3 - 2023-08-24
 
 Requires libfranka >= 0.11.0, required ROS 2 Humble
diff --git a/Dockerfile b/Dockerfile
index ef1e3dea..8c2233e0 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -59,7 +59,7 @@ RUN python3 -m pip install -U \
 RUN mkdir ~/source_code    
 RUN cd ~/source_code && git clone https://github.com/frankaemika/libfranka.git \
     && cd libfranka \
-    && git checkout 9a9e949a85e82011e22f637a8f1e274b4dcd6e05 \
+    && git checkout 0.12.1 \
     && git submodule init \
     && git submodule update \
     && mkdir build && cd build \
diff --git a/franka_bringup/package.xml b/franka_bringup/package.xml
index 377f9868..4ff42eb7 100644
--- a/franka_bringup/package.xml
+++ b/franka_bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_bringup</name>
-  <version>0.1.3</version>
+  <version>0.1.4</version>
   <description>Package with launch files and run-time configurations for using Franka Emika research robots with ros2_control</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_description/package.xml b/franka_description/package.xml
index 33bcd887..933697bd 100644
--- a/franka_description/package.xml
+++ b/franka_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_description</name>
-  <version>0.1.3</version>
+  <version>0.1.4</version>
   <description>franka_description contains URDF files and meshes of Franka Emika robots</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_example_controllers/package.xml b/franka_example_controllers/package.xml
index 583f7c7a..d8409259 100644
--- a/franka_example_controllers/package.xml
+++ b/franka_example_controllers/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_example_controllers</name>
-  <version>0.1.3</version>
+  <version>0.1.4</version>
   <description>franka_example_controllers provides example code for controlling Franka Emika research robots with ros2_control</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_gripper/package.xml b/franka_gripper/package.xml
index 90314a80..fa354fca 100644
--- a/franka_gripper/package.xml
+++ b/franka_gripper/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_gripper</name>
-  <version>0.1.3</version>
+  <version>0.1.4</version>
   <description>This package implements the franka gripper of type Franka Hand for the use in ROS2</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_hardware/CMakeLists.txt b/franka_hardware/CMakeLists.txt
index cbecdd94..12a4fa1b 100644
--- a/franka_hardware/CMakeLists.txt
+++ b/franka_hardware/CMakeLists.txt
@@ -18,7 +18,7 @@ find_package(rclcpp REQUIRED)
 find_package(franka_msgs REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
-find_package(Franka 0.11.0 REQUIRED)
+find_package(Franka 0.12.1 REQUIRED)
 find_package(rclcpp_components REQUIRED)
 
 add_library(franka_hardware
diff --git a/franka_hardware/include/franka_hardware/robot.hpp b/franka_hardware/include/franka_hardware/robot.hpp
index 861e2bb3..bd01dc5f 100644
--- a/franka_hardware/include/franka_hardware/robot.hpp
+++ b/franka_hardware/include/franka_hardware/robot.hpp
@@ -23,6 +23,8 @@
 #include <thread>
 
 #include <franka/active_control.h>
+#include <franka/active_torque_control.h>
+
 #include <franka/model.h>
 #include <franka/robot.h>
 #include <franka_hardware/model.hpp>
diff --git a/franka_hardware/package.xml b/franka_hardware/package.xml
index f5f70894..5c016340 100644
--- a/franka_hardware/package.xml
+++ b/franka_hardware/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_hardware</name>
-  <version>0.1.3</version>
+  <version>0.1.4</version>
   <description>franka_hardware provides hardware interfaces for using Franka Emika research robots with ros2_control</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_moveit_config/package.xml b/franka_moveit_config/package.xml
index d25a560a..408a9a39 100644
--- a/franka_moveit_config/package.xml
+++ b/franka_moveit_config/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_moveit_config</name>
-  <version>0.1.3</version>
+  <version>0.1.4</version>
   <description>Contains Moveit2 configuration files for Franka Emika research robots</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_msgs/package.xml b/franka_msgs/package.xml
index 0ed7ff6d..92427076 100644
--- a/franka_msgs/package.xml
+++ b/franka_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_msgs</name>
-  <version>0.1.3</version>
+  <version>0.1.4</version>
   <description>franka_msgs provides messages and actions specific to Franka Emika research robots</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_robot_state_broadcaster/package.xml b/franka_robot_state_broadcaster/package.xml
index 08244125..2251190d 100644
--- a/franka_robot_state_broadcaster/package.xml
+++ b/franka_robot_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>franka_robot_state_broadcaster</name>
-  <version>0.1.3</version>
+  <version>0.1.4</version>
   <description>Broadcaster to publish robot states</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/integration_launch_testing/package.xml b/integration_launch_testing/package.xml
index f17790c5..45f6a666 100644
--- a/integration_launch_testing/package.xml
+++ b/integration_launch_testing/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>integration_launch_testing</name>
-  <version>0.1.3</version>
+  <version>0.1.4</version>
   <description>Functional integration tests for franka controllers</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>