diff --git a/urdf/ergoCub/conf/wrappers/FT/left_foot-FT_remapper.xml b/urdf/ergoCub/conf/wrappers/FT/left_foot-FT_remapper.xml
index d950f777..ccd119a2 100644
--- a/urdf/ergoCub/conf/wrappers/FT/left_foot-FT_remapper.xml
+++ b/urdf/ergoCub/conf/wrappers/FT/left_foot-FT_remapper.xml
@@ -3,8 +3,8 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-FT_remapper" type="multipleanalogsensorsremapper">
     <param name="SixAxisForceTorqueSensorsNames">
-          (l_foot_rear_ft_sensor
-           l_foot_front_ft_sensor)
+          (l_foot_rear_ft
+           l_foot_front_ft)
     </param>
     <action phase="startup" level="5" type="attach">
          <paramlist name="networks">
diff --git a/urdf/ergoCub/conf/wrappers/FT/left_leg-FT_remapper.xml b/urdf/ergoCub/conf/wrappers/FT/left_leg-FT_remapper.xml
index 6901f06d..89f19e70 100644
--- a/urdf/ergoCub/conf/wrappers/FT/left_leg-FT_remapper.xml
+++ b/urdf/ergoCub/conf/wrappers/FT/left_leg-FT_remapper.xml
@@ -4,7 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_remapper" type="multipleanalogsensorsremapper">
         <param name="SixAxisForceTorqueSensorsNames">
-          (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
+          (l_leg_ft l_foot_rear_ft l_foot_front_ft)
         </param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
@@ -15,4 +15,4 @@
         </action>
 
         <action phase="shutdown" level="20" type="detach" />
-    </device>
\ No newline at end of file
+    </device>
diff --git a/urdf/ergoCub/conf/wrappers/FT/right_foot-FT_remapper.xml b/urdf/ergoCub/conf/wrappers/FT/right_foot-FT_remapper.xml
index 34c41033..53636454 100644
--- a/urdf/ergoCub/conf/wrappers/FT/right_foot-FT_remapper.xml
+++ b/urdf/ergoCub/conf/wrappers/FT/right_foot-FT_remapper.xml
@@ -3,8 +3,8 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot-FT_remapper" type="multipleanalogsensorsremapper">
     <param name="SixAxisForceTorqueSensorsNames">
-          (r_foot_rear_ft_sensor
-           r_foot_front_ft_sensor)
+          (r_foot_rear_ft
+           r_foot_front_ft)
     </param>
     <action phase="startup" level="5" type="attach">
          <paramlist name="networks">
diff --git a/urdf/ergoCub/conf/wrappers/FT/right_leg-FT_remapper.xml b/urdf/ergoCub/conf/wrappers/FT/right_leg-FT_remapper.xml
index c9f22a19..4d8553e3 100644
--- a/urdf/ergoCub/conf/wrappers/FT/right_leg-FT_remapper.xml
+++ b/urdf/ergoCub/conf/wrappers/FT/right_leg-FT_remapper.xml
@@ -4,7 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_remapper" type="multipleanalogsensorsremapper">
         <param name="SixAxisForceTorqueSensorsNames">
-          (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
+          (r_leg_ft r_foot_rear_ft r_foot_front_ft)
         </param>
 
         <action phase="startup" level="5" type="attach">
@@ -16,4 +16,4 @@
         </action>
 
         <action phase="shutdown" level="20" type="detach" />
-    </device>
\ No newline at end of file
+    </device>