diff --git a/iCub/conf/icub.xml b/iCub/conf/icub.xml
index 6ffdfa6..6b9ce23 100644
--- a/iCub/conf/icub.xml
+++ b/iCub/conf/icub.xml
@@ -20,12 +20,12 @@
     <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
     <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
     <!--  ANALOG SENSORS FT -->
-    <xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
+    <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
+    <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
+    <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
+    <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
     <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/right_leg_hip-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/left_leg_hip-FT_wrapper.xml" />
 
     <!-- INERTIAL SENSOR-->
     <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
diff --git a/iCub/conf/wrappers/FT/left_arm-FT_wrapper.xml b/iCub/conf/wrappers/FT/left_arm-FT_wrapper.xml
index b757d59..b9b6320 100644
--- a/iCub/conf/wrappers/FT/left_arm-FT_wrapper.xml
+++ b/iCub/conf/wrappers/FT/left_arm-FT_wrapper.xml
@@ -4,7 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
         <param name="period">      10                           </param>
-        <param name="name">       ${portprefix}/left_arm       </param>
+        <param name="name">       ${portprefix}/left_arm/FT       </param>
         
         <action phase="startup" level="10" type="attach">
             <paramlist name="networks">
diff --git a/iCub/conf/wrappers/FT/left_leg-FT_remapper.xml b/iCub/conf/wrappers/FT/left_leg-FT_remapper.xml
new file mode 100644
index 0000000..07afbe3
--- /dev/null
+++ b/iCub/conf/wrappers/FT/left_leg-FT_remapper.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <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_ft_sensor)
+        </param>
+        <param name="TemperatureSensorsNames">
+          (l_leg_ft_sensor l_foot_ft_sensor)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="left_leg_ft_sensor">  icub_left_leg_ft </elem>
+                <elem name="left_foot_ft_sensor">  icub_left_foot_ft </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
\ No newline at end of file
diff --git a/iCub/conf/wrappers/FT/left_leg-FT_wrapper.xml b/iCub/conf/wrappers/FT/left_leg-FT_wrapper.xml
new file mode 100644
index 0000000..5521247
--- /dev/null
+++ b/iCub/conf/wrappers/FT/left_leg-FT_wrapper.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="multipleanalogsensorsserver">
+        <param name="period">      10                           </param>
+        <param name="name">       ${portprefix}/left_leg/FT       </param>
+
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="FirstStrain"> left_leg-FT_remapper </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="15" type="detach" />
+    </device>
diff --git a/iCub/conf/wrappers/FT/right_arm-FT_wrapper.xml b/iCub/conf/wrappers/FT/right_arm-FT_wrapper.xml
index 2220e0b..940f08d 100644
--- a/iCub/conf/wrappers/FT/right_arm-FT_wrapper.xml
+++ b/iCub/conf/wrappers/FT/right_arm-FT_wrapper.xml
@@ -4,7 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-FT_wrapper" type="multipleanalogsensorsserver">
         <param name="period">      10                           </param>
-        <param name="name">       ${portprefix}/right_arm      </param>
+        <param name="name">       ${portprefix}/right_arm/FT      </param>
 
         <action phase="startup" level="10" type="attach">
             <paramlist name="networks">
diff --git a/iCub/conf/wrappers/FT/right_leg-FT_remapper.xml b/iCub/conf/wrappers/FT/right_leg-FT_remapper.xml
new file mode 100644
index 0000000..e628419
--- /dev/null
+++ b/iCub/conf/wrappers/FT/right_leg-FT_remapper.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <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_ft_sensor)
+        </param>
+        <param name="TemperatureSensorsNames">
+          (r_leg_ft_sensor r_foot_ft_sensor)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="right_leg_ft_sensor">  icub_right_leg_ft </elem>
+                <elem name="right_foot_ft_sensor">  icub_right_foot_ft </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
\ No newline at end of file
diff --git a/iCub/conf/wrappers/FT/right_leg-FT_wrapper.xml b/iCub/conf/wrappers/FT/right_leg-FT_wrapper.xml
new file mode 100644
index 0000000..c75fc11
--- /dev/null
+++ b/iCub/conf/wrappers/FT/right_leg-FT_wrapper.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_wrapper" type="multipleanalogsensorsserver">
+        <param name="period">      10                           </param>
+        <param name="name">       ${portprefix}/right_leg/FT       </param>
+
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="FirstStrain"> right_leg-FT_remapper </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="15" type="detach" />
+    </device>
diff --git a/iCub/conf_icub3/icub.xml b/iCub/conf_icub3/icub.xml
index f77376b..dc73585 100644
--- a/iCub/conf_icub3/icub.xml
+++ b/iCub/conf_icub3/icub.xml
@@ -20,14 +20,12 @@
     <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
     <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
     <!--  ANALOG SENSORS FT -->
-    <xi:include href="wrappers/FT/left_foot-FT_remapper.xml" />
-    <xi:include href="wrappers/FT/right_foot-FT_remapper.xml" />
-    <xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
+    <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
+    <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
+    <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
+    <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/right_leg_hip-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/left_leg_hip-FT_wrapper.xml" />
     
     <!-- INERTIAL SENSOR-->
     <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
diff --git a/iCub/conf_icub3/icub_ROS2.xml b/iCub/conf_icub3/icub_ROS2.xml
index f04568d..d2c677c 100644
--- a/iCub/conf_icub3/icub_ROS2.xml
+++ b/iCub/conf_icub3/icub_ROS2.xml
@@ -20,14 +20,12 @@
     <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
     <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
     <!--  ANALOG SENSORS FT -->
-    <xi:include href="wrappers/FT/left_foot-FT_remapper.xml" />
-    <xi:include href="wrappers/FT/right_foot-FT_remapper.xml" />
-    <xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
+    <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
+    <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
+    <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
+    <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/right_leg_hip-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/left_leg_hip-FT_wrapper.xml" />
 
     <!-- INERTIAL SENSOR-->
     <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
@@ -41,7 +39,7 @@
     <xi:include href="wrappers/FT/right_foot-FT_nws_ros2.xml" />
     <xi:include href="wrappers/FT/left_leg_hip-FT_nws_ros2.xml" />
     <xi:include href="wrappers/FT/right_leg_hip-FT_nws_ros2.xml" />
-    <xi:include href="wrappers/FT/left_arm-FT_nws_ros2.xml" /> -->
+    <xi:include href="wrappers/FT/left_arm-FT_nws_ros2.xml" />
     <xi:include href="wrappers/FT/right_arm-FT_nws_ros2.xml" />
     </devices>
 </robot>
diff --git a/iCub/conf_icub3/wrappers/FT/left_arm-FT_wrapper.xml b/iCub/conf_icub3/wrappers/FT/left_arm-FT_wrapper.xml
index b757d59..b9b6320 100644
--- a/iCub/conf_icub3/wrappers/FT/left_arm-FT_wrapper.xml
+++ b/iCub/conf_icub3/wrappers/FT/left_arm-FT_wrapper.xml
@@ -4,7 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
         <param name="period">      10                           </param>
-        <param name="name">       ${portprefix}/left_arm       </param>
+        <param name="name">       ${portprefix}/left_arm/FT       </param>
         
         <action phase="startup" level="10" type="attach">
             <paramlist name="networks">
diff --git a/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml b/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml
new file mode 100644
index 0000000..998e6e4
--- /dev/null
+++ b/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <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)
+        </param>
+        <param name="TemperatureSensorsNames">
+          (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="left_leg_ft_sensor">  icub_left_leg_ft </elem>
+                <elem name="left_foot_rear_ft_sensor">  icub_left_foot_rear_ft </elem>
+                <elem name="left_foot_front_ft_sensor">  icub_left_foot_front_ft </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
\ No newline at end of file
diff --git a/iCub/conf_icub3/wrappers/FT/left_leg-FT_wrapper.xml b/iCub/conf_icub3/wrappers/FT/left_leg-FT_wrapper.xml
new file mode 100644
index 0000000..5521247
--- /dev/null
+++ b/iCub/conf_icub3/wrappers/FT/left_leg-FT_wrapper.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="multipleanalogsensorsserver">
+        <param name="period">      10                           </param>
+        <param name="name">       ${portprefix}/left_leg/FT       </param>
+
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="FirstStrain"> left_leg-FT_remapper </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="15" type="detach" />
+    </device>
diff --git a/iCub/conf_icub3/wrappers/FT/right_arm-FT_wrapper.xml b/iCub/conf_icub3/wrappers/FT/right_arm-FT_wrapper.xml
index 2220e0b..940f08d 100644
--- a/iCub/conf_icub3/wrappers/FT/right_arm-FT_wrapper.xml
+++ b/iCub/conf_icub3/wrappers/FT/right_arm-FT_wrapper.xml
@@ -4,7 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-FT_wrapper" type="multipleanalogsensorsserver">
         <param name="period">      10                           </param>
-        <param name="name">       ${portprefix}/right_arm      </param>
+        <param name="name">       ${portprefix}/right_arm/FT      </param>
 
         <action phase="startup" level="10" type="attach">
             <paramlist name="networks">
diff --git a/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml b/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml
new file mode 100644
index 0000000..4a69763
--- /dev/null
+++ b/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <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)
+        </param>
+        <param name="TemperatureSensorsNames">
+          (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="right_leg_ft_sensor">  icub_right_leg_ft </elem>
+                <elem name="right_foot_rear_ft_sensor">  icub_right_foot_rear_ft </elem>
+                <elem name="right_foot_front_ft_sensor">  icub_right_foot_front_ft </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
\ No newline at end of file
diff --git a/iCub/conf_icub3/wrappers/FT/right_leg-FT_wrapper.xml b/iCub/conf_icub3/wrappers/FT/right_leg-FT_wrapper.xml
new file mode 100644
index 0000000..c75fc11
--- /dev/null
+++ b/iCub/conf_icub3/wrappers/FT/right_leg-FT_wrapper.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_wrapper" type="multipleanalogsensorsserver">
+        <param name="period">      10                           </param>
+        <param name="name">       ${portprefix}/right_leg/FT       </param>
+
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="FirstStrain"> right_leg-FT_remapper </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="15" type="detach" />
+    </device>