diff --git a/CustomAvatar/VRIK/IKSolverVR.cs b/CustomAvatar/VRIK/IKSolverVR.cs
index cf0b208..ecdcd94 100644
--- a/CustomAvatar/VRIK/IKSolverVR.cs
+++ b/CustomAvatar/VRIK/IKSolverVR.cs
@@ -58,7 +58,7 @@ public void GuessHandOrientations(VRIK.References references, bool onlyIfZero)
 
 			if (leftArm.palmToThumbAxis == Vector3.zero || !onlyIfZero)
 			{
-				leftArm.palmToThumbAxis = GuessPalmToThumbAxis(references.leftHand, references.leftForearm);
+				leftArm.palmToThumbAxis = GuessPalmToThumbAxis(references.leftHand, references.leftForearm, leftArm.wristToPalmAxis);
 			}
 
 			if (rightArm.wristToPalmAxis == Vector3.zero || !onlyIfZero)
@@ -68,7 +68,7 @@ public void GuessHandOrientations(VRIK.References references, bool onlyIfZero)
 
 			if (rightArm.palmToThumbAxis == Vector3.zero || !onlyIfZero)
 			{
-				rightArm.palmToThumbAxis = GuessPalmToThumbAxis(references.rightHand, references.rightForearm);
+				rightArm.palmToThumbAxis = GuessPalmToThumbAxis(references.rightHand, references.rightForearm, rightArm.wristToPalmAxis);
 			}
 		}
 
@@ -273,7 +273,7 @@ private Vector3 GuessWristToPalmAxis(Transform hand, Transform forearm)
 			return axis;
 		}
 
-		private Vector3 GuessPalmToThumbAxis(Transform hand, Transform forearm)
+		private Vector3 GuessPalmToThumbAxis(Transform hand, Transform forearm, Vector3 wristToPalmAxis) 
 		{
 			if (hand.childCount == 0)
 			{
@@ -294,9 +294,10 @@ private Vector3 GuessPalmToThumbAxis(Transform hand, Transform forearm)
 				}
 			}
 
-			Vector3 handNormal = Vector3.Cross(hand.position - forearm.position, hand.GetChild(thumbIndex).position - hand.position);
-			Vector3 toThumb = Vector3.Cross(handNormal, hand.position - forearm.position);
-			Vector3 axis = AxisTools.ToVector3(AxisTools.GetAxisToDirection(hand, toThumb));
+			Vector3 wristToPalm = hand.rotation * wristToPalmAxis;
+			Vector3 handNormal = Vector3.Cross(wristToPalm, (hand.GetChild(thumbIndex).position - hand.position).normalized).normalized;
+			Vector3 toThumb = Vector3.Cross(handNormal, wristToPalm).normalized;
+			Vector3 axis = Quaternion.Inverse(hand.rotation) * toThumb;
 			if (Vector3.Dot(toThumb, hand.rotation * axis) < 0f) axis = -axis;
 			return axis;
 		}
diff --git a/CustomAvatar/VRIK/IKSolverVRArm.cs b/CustomAvatar/VRIK/IKSolverVRArm.cs
index 7f68247..2f3fa74 100644
--- a/CustomAvatar/VRIK/IKSolverVRArm.cs
+++ b/CustomAvatar/VRIK/IKSolverVRArm.cs
@@ -416,7 +416,7 @@ private Vector3 GetBendNormal(Vector3 dir) {
 				b = chestRotation * b;
 
 				b = Vector3.Slerp(b, armDir, 0.5f);
-				Vector3 vectorHand = (q * wristToPalmAxis * 0.15f + q * palmToThumbAxis * 0.85f) * -1.0f;
+				Vector3 vectorHand = q * Vector3.Slerp(wristToPalmAxis, palmToThumbAxis, 0.85f) * -1.0f;
 				float handWeight = (Vector3.Dot(b, vectorHand) + 1.0f) * 0.5f * 0.75f; // to range of 0 - 0.75
 				b = Vector3.Slerp(b, vectorHand, handWeight);