diff --git a/ergoCubSN000/estimators/wholebodydynamics.xml b/ergoCubSN000/estimators/wholebodydynamics.xml
index e3c37c8c1b..9d5c0bf264 100644
--- a/ergoCubSN000/estimators/wholebodydynamics.xml
+++ b/ergoCubSN000/estimators/wholebodydynamics.xml
@@ -20,6 +20,7 @@
         <param name="devicePeriodInSeconds">0.002</param>
         <param name="useSkinForContacts">false</param>
         <param name="publishNetExternalWrenches">true</param>
+        <param name="estimateJointVelocityAcceleration">false</param>  <!-- if true a kf will estimate the joint velocities and accelerations -->
 	<!--<param name="assume_fixed">root_link</param>-->
 	<group name="HW_USE_MAS_IMU">
 	    <param name="accelerometer">waist_imu_0</param>
diff --git a/ergoCubSN000/estimators/wholebodydynamics_no_right_forearm.xml b/ergoCubSN000/estimators/wholebodydynamics_no_right_forearm.xml
index b1db666098..6641a02906 100644
--- a/ergoCubSN000/estimators/wholebodydynamics_no_right_forearm.xml
+++ b/ergoCubSN000/estimators/wholebodydynamics_no_right_forearm.xml
@@ -20,6 +20,7 @@
         <param name="devicePeriodInSeconds">0.002</param>
         <param name="useSkinForContacts">false</param>
         <param name="publishNetExternalWrenches">true</param>
+        <param name="estimateJointVelocityAcceleration">false</param>  <!-- if true a kf will estimate the joint velocities and accelerations -->
 	<!--<param name="assume_fixed">root_link</param>-->
 	<group name="HW_USE_MAS_IMU">
 	    <param name="accelerometer">waist_imu_0</param>
diff --git a/ergoCubSN001/estimators/wholebodydynamics.xml b/ergoCubSN001/estimators/wholebodydynamics.xml
index 29a6fdc58c..f4613be918 100644
--- a/ergoCubSN001/estimators/wholebodydynamics.xml
+++ b/ergoCubSN001/estimators/wholebodydynamics.xml
@@ -20,6 +20,7 @@
   <param name="devicePeriodInSeconds">0.002</param>
   <param name="useSkinForContacts">false</param>
   <param name="publishNetExternalWrenches">true</param>
+  <param name="estimateJointVelocityAcceleration">false</param>  <!-- if true a kf will estimate the joint velocities and accelerations -->
   <!--<param name="assume_fixed">root_link</param>-->
   <group name="HW_USE_MAS_IMU">
     <param name="accelerometer">waist_imu_0</param>
diff --git a/ergoCubSN002/estimators/wholebodydynamics.xml b/ergoCubSN002/estimators/wholebodydynamics.xml
index b662ac1807..e744fe9b27 100644
--- a/ergoCubSN002/estimators/wholebodydynamics.xml
+++ b/ergoCubSN002/estimators/wholebodydynamics.xml
@@ -20,6 +20,7 @@
   <param name="devicePeriodInSeconds">0.001</param>
   <param name="useSkinForContacts">false</param>
   <param name="publishNetExternalWrenches">true</param>
+  <param name="estimateJointVelocityAcceleration">false</param>  <!-- if true a kf will estimate the joint velocities and accelerations -->
   <!--<param name="assume_fixed">root_link</param>-->
   <group name="HW_USE_MAS_IMU">
     <param name="accelerometer">waist_imu_0</param>