diff --git a/robotnik_pad_plugins/include/robotnik_pad_plugins/elevator_plugin.h b/robotnik_pad_plugins/include/robotnik_pad_plugins/elevator_plugin.h
index 9e78437..6042dad 100644
--- a/robotnik_pad_plugins/include/robotnik_pad_plugins/elevator_plugin.h
+++ b/robotnik_pad_plugins/include/robotnik_pad_plugins/elevator_plugin.h
@@ -20,6 +20,7 @@ class PadPluginElevator : public GenericPadPlugin
   double axis_elevator_;
   bool elevator_is_running_;
   bool stop_elevator_;
+  bool stop_elevator_dead_man_;
 
   std::string elevator_service_name_;
   ros::ServiceClient set_elevator_client_;
diff --git a/robotnik_pad_plugins/src/elevator_plugin.cpp b/robotnik_pad_plugins/src/elevator_plugin.cpp
index 897678e..e0aedb9 100644
--- a/robotnik_pad_plugins/src/elevator_plugin.cpp
+++ b/robotnik_pad_plugins/src/elevator_plugin.cpp
@@ -21,7 +21,7 @@ void PadPluginElevator::initialize(const ros::NodeHandle& nh, const std::string&
   readParam(pnh_, "config/axis_elevator", axis_elevator_, axis_elevator_, required);
   readParam(pnh_, "elevator_service_name", elevator_service_name_, elevator_service_name_, required);
   readParam(pnh_, "stop_elevator", stop_elevator_, false, not_required);
-
+  readParam(pnh_, "stop_elevator_dead_man", stop_elevator_dead_man_, false, not_required);
   // Service client
   set_elevator_client_ = nh_.serviceClient<robotnik_msgs::SetElevator>(elevator_service_name_);
 
@@ -34,47 +34,76 @@ void PadPluginElevator::execute(const std::vector<Button>& buttons, std::vector<
   {
     if (axes[axis_elevator_] > 0.95)
     {
-      robotnik_msgs::SetElevator elevator_msg_srv;
-      elevator_msg_srv.request.action.action = robotnik_msgs::ElevatorAction::RAISE;
-      ROS_INFO_NAMED("PadPluginElevator", "PadPluginElevator::execute: Raising...");
-      elevator_is_running_ = true;
-      if (set_elevator_client_.call(elevator_msg_srv) != true || elevator_msg_srv.response.ret != true)
+      if (!elevator_is_running_)
       {
-        ROS_ERROR_NAMED("PadPluginElevator", "PadPluginElevator::execute: Error raising");
+        robotnik_msgs::SetElevator elevator_msg_srv;
+        elevator_msg_srv.request.action.action = robotnik_msgs::ElevatorAction::RAISE;
+        ROS_INFO_NAMED("PadPluginElevator", "PadPluginElevator::execute: Raising...");
+        if (set_elevator_client_.call(elevator_msg_srv) != true || elevator_msg_srv.response.ret != true)
+        {
+          ROS_ERROR_NAMED("PadPluginElevator", "PadPluginElevator::execute: Error raising");
+        }
+        else
+        { 
+          elevator_is_running_ = true;
+        }
       }
     }
     if (axes[axis_elevator_] < -0.95)
     {
-      robotnik_msgs::SetElevator elevator_msg_srv;
-      elevator_msg_srv.request.action.action = robotnik_msgs::ElevatorAction::LOWER;
-      elevator_is_running_ = true;
-      ROS_INFO_NAMED("PadPluginElevator", "PadPluginElevator::execute: Lowering...");
-
-      if (set_elevator_client_.call(elevator_msg_srv) != true || elevator_msg_srv.response.ret != true)
+      if (!elevator_is_running_)
       {
-        ROS_ERROR_NAMED("PadPluginElevator", "PadPluginElevator::execute: Error lowering");
+        robotnik_msgs::SetElevator elevator_msg_srv;
+        elevator_msg_srv.request.action.action = robotnik_msgs::ElevatorAction::LOWER;
+        ROS_INFO_NAMED("PadPluginElevator", "PadPluginElevator::execute: Lowering...");
+        if (set_elevator_client_.call(elevator_msg_srv) != true || elevator_msg_srv.response.ret != true)
+        {
+          ROS_ERROR_NAMED("PadPluginElevator", "PadPluginElevator::execute: Error lowering");
+        }
+        else
+        {
+          elevator_is_running_ = true;
+        }
       }
     }
 
-    if (stop_elevator_==true){
+    if (stop_elevator_){
 
       if (axes[axis_elevator_] > -0.1 && axes[axis_elevator_] < 0.1 && elevator_is_running_ == true)
       {
         robotnik_msgs::SetElevator elevator_msg_srv;
         elevator_msg_srv.request.action.action = robotnik_msgs::ElevatorAction::STOP;
-        elevator_is_running_ = false;
         ROS_INFO_NAMED("PadPluginElevator", "PadPluginElevator::execute: Stoping...");
 
         if (set_elevator_client_.call(elevator_msg_srv) != true || elevator_msg_srv.response.ret != true)
         {
           ROS_ERROR_NAMED("PadPluginElevator", "PadPluginElevator::execute: Error stoping");
         }
+        else
+        {
+          elevator_is_running_ = false;
+        }
       }
     }
 
   }
   else if (buttons[button_dead_man_].isReleased())
   {
+    if (stop_elevator_dead_man_ && elevator_is_running_)
+    {
+      robotnik_msgs::SetElevator elevator_msg_srv;
+      elevator_msg_srv.request.action.action = robotnik_msgs::ElevatorAction::STOP;
+      ROS_INFO_NAMED("PadPluginElevator", "PadPluginElevator::execute: Stoping...");
+
+      if (set_elevator_client_.call(elevator_msg_srv) != true || elevator_msg_srv.response.ret != true)
+      {
+        ROS_ERROR_NAMED("PadPluginElevator", "PadPluginElevator::execute: Error stoping");
+      }
+      else
+      {
+        elevator_is_running_ = false;
+      }
+    }
   }
 }