diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7df2708a..818e0b79 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 - Naming convention from `wrapper`\ `server` to `nws`\ `nwc` (https://github.com/robotology/human-dynamics-estimation/pull/367).
 - HumanLogger device to be compatible with the `robot-log-visualizer` (https://github.com/robotology/human-dynamics-estimation/pull/372).
+- `controlboardwrapper2` is replaced by `controlBoard_nws_yarp` (https://github.com/robotology/human-dynamics-estimation/pull/378).
 - Updated applications and modules that use the transform server (https://github.com/robotology/human-dynamics-estimation/pull/377)
 
 ### Added
diff --git a/conf/xml/Human.xml b/conf/xml/Human.xml
index 0f725423..4e2ea504 100644
--- a/conf/xml/Human.xml
+++ b/conf/xml/Human.xml
@@ -285,8 +285,8 @@
         <action phase="shutdown" level="5" type="detach"/>
     </device>
 
-    <device type="controlboardwrapper2" name="HumanControlBoardWrapper">
-        <param name="period">20</param>
+    <device type="controlBoard_nws_yarp" name="HumanControlBoardWrapper">
+        <param name="period">0.02</param>
         <param name="name">/Human/HumanControlBoard</param>
         <param name="joints">66</param>
         <paramlist name="networks">
diff --git a/conf/xml/hands-pHRI.xml b/conf/xml/hands-pHRI.xml
index 09a03e8f..48ef9f63 100644
--- a/conf/xml/hands-pHRI.xml
+++ b/conf/xml/hands-pHRI.xml
@@ -266,8 +266,8 @@
         <action phase="shutdown" level="5" type="detach"/>
     </device>
 
-    <device type="controlboardwrapper2" name="HumanControlBoardWrapper">
-        <param name="period">20</param>
+    <device type="controlBoard_nws_yarp" name="HumanControlBoardWrapper">
+        <param name="period">0.02</param>
         <param name="name">/Human/HumanControlBoard</param>
         <param name="joints">66</param>
         <paramlist name="networks">
diff --git a/conf/xml/pHRI.xml b/conf/xml/pHRI.xml
index 9c4cbbdb..b12fc9fc 100644
--- a/conf/xml/pHRI.xml
+++ b/conf/xml/pHRI.xml
@@ -285,8 +285,8 @@
         <action phase="shutdown" level="5" type="detach"/>
     </device>
 
-    <device type="controlboardwrapper2" name="HumanControlBoardWrapper">
-        <param name="period">1</param>
+    <device type="controlBoard_nws_yarp" name="HumanControlBoardWrapper">
+        <param name="period">0.01</param>
         <param name="name">/Human/HumanControlBoard</param>
         <param name="joints">66</param>
         <paramlist name="networks">