diff --git a/iCub/conf/gazebo_icub_left_arm_inertial.ini b/iCub/conf/gazebo_icub_left_arm_inertial.ini
new file mode 100644
index 0000000..b2db6e3
--- /dev/null
+++ b/iCub/conf/gazebo_icub_left_arm_inertial.ini
@@ -0,0 +1,2 @@
+disableImplicitNetworkWrapper
+yarpDeviceName left_arm_inertial_hardware_device
\ No newline at end of file
diff --git a/iCub/conf/gazebo_icub_right_arm_inertial.ini b/iCub/conf/gazebo_icub_right_arm_inertial.ini
new file mode 100644
index 0000000..b676f9c
--- /dev/null
+++ b/iCub/conf/gazebo_icub_right_arm_inertial.ini
@@ -0,0 +1,2 @@
+disableImplicitNetworkWrapper
+yarpDeviceName right_arm_inertial_hardware_device
\ No newline at end of file
diff --git a/iCub/conf/icub.xml b/iCub/conf/icub.xml
index 71ca941..3dce396 100644
--- a/iCub/conf/icub.xml
+++ b/iCub/conf/icub.xml
@@ -29,7 +29,9 @@
 
     <!-- INERTIAL SENSOR-->
     <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
-<!--  NOT USED RIGHT NOW
+    <xi:include href="wrappers/inertials/left_arm-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" />
+    <!--  NOT USED RIGHT NOW
     <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" /> -->    
     </devices>
 </robot>
diff --git a/iCub/conf/wrappers/inertials/left_arm-inertials_wrapper.xml b/iCub/conf/wrappers/inertials/left_arm-inertials_wrapper.xml
new file mode 100644
index 0000000..cb80f7a
--- /dev/null
+++ b/iCub/conf/wrappers/inertials/left_arm-inertials_wrapper.xml
@@ -0,0 +1,14 @@
+<?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_arm-inertials_wrapper" type="multipleanalogsensorsserver">
+        <param name="period">       10                  </param>
+        <param name="name">     ${portprefix}/left_arm/imu   </param>
+
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="SetOfIMUs">left_arm_inertial_hardware_device</elem>
+            </paramlist>
+        </action>
+        <action phase="shutdown" level="15" type="detach" />
+    </device>
\ No newline at end of file
diff --git a/iCub/conf/wrappers/inertials/right_arm-inertials_wrapper.xml b/iCub/conf/wrappers/inertials/right_arm-inertials_wrapper.xml
new file mode 100644
index 0000000..3a59576
--- /dev/null
+++ b/iCub/conf/wrappers/inertials/right_arm-inertials_wrapper.xml
@@ -0,0 +1,14 @@
+<?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_arm-inertials_wrapper" type="multipleanalogsensorsserver">
+        <param name="period">       10                  </param>
+        <param name="name">     ${portprefix}/right_arm/imu   </param>
+
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="SetOfIMUs">right_arm_inertial_hardware_device</elem>
+            </paramlist>
+        </action>
+        <action phase="shutdown" level="15" type="detach" />
+    </device>
\ No newline at end of file
diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 7761da1..cc58019 100644
--- a/iCub/robots/iCubDarmstadt01/model.urdf
+++ b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -2691,6 +2691,34 @@
     <parent link="head"/>
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
+  <gazebo reference="l_shoulder_3">
+    <sensor name="l_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_arm_ft" type="accelerometer">
+    <parent link="l_shoulder_3"/>
+    <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
+  </sensor>
+  <gazebo reference="r_shoulder_3">
+    <sensor name="r_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_arm_ft" type="accelerometer">
+    <parent link="r_shoulder_3"/>
+    <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
+  </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubErzelli02/model.urdf b/iCub/robots/iCubErzelli02/model.urdf
index 3bd7b1d..0fc0bf0 100644
--- a/iCub/robots/iCubErzelli02/model.urdf
+++ b/iCub/robots/iCubErzelli02/model.urdf
@@ -2691,6 +2691,34 @@
     <parent link="head"/>
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
+  <gazebo reference="l_shoulder_3">
+    <sensor name="l_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_arm_ft" type="accelerometer">
+    <parent link="l_shoulder_3"/>
+    <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
+  </sensor>
+  <gazebo reference="r_shoulder_3">
+    <sensor name="r_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_arm_ft" type="accelerometer">
+    <parent link="r_shoulder_3"/>
+    <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
+  </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
index 9f1d8be..8ded202 100644
--- a/iCub/robots/iCubGazeboV2_5/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -2691,6 +2691,34 @@
     <parent link="head"/>
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
+  <gazebo reference="l_shoulder_3">
+    <sensor name="l_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_arm_ft" type="accelerometer">
+    <parent link="l_shoulder_3"/>
+    <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
+  </sensor>
+  <gazebo reference="r_shoulder_3">
+    <sensor name="r_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_arm_ft" type="accelerometer">
+    <parent link="r_shoulder_3"/>
+    <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
+  </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf b/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
index 8d7b7f9..176fed6 100644
--- a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
@@ -2320,6 +2320,34 @@
     <parent link="head"/>
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
+  <gazebo reference="l_shoulder_3">
+    <sensor name="l_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_arm_ft" type="accelerometer">
+    <parent link="l_shoulder_3"/>
+    <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
+  </sensor>
+  <gazebo reference="r_shoulder_3">
+    <sensor name="r_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_arm_ft" type="accelerometer">
+    <parent link="r_shoulder_3"/>
+    <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
+  </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index b48ec9d..90e87a9 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -2691,6 +2691,34 @@
     <parent link="head"/>
     <origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
   </sensor>
+  <gazebo reference="l_shoulder_3">
+    <sensor name="l_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_arm_ft" type="accelerometer">
+    <parent link="l_shoulder_3"/>
+    <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
+  </sensor>
+  <gazebo reference="r_shoulder_3">
+    <sensor name="r_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_arm_ft" type="accelerometer">
+    <parent link="r_shoulder_3"/>
+    <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
+  </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 8bb5a4d..3992313 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -2707,6 +2707,34 @@
     <parent link="head"/>
     <origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
   </sensor>
+  <gazebo reference="l_shoulder_3">
+    <sensor name="l_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_arm_ft" type="accelerometer">
+    <parent link="l_shoulder_3"/>
+    <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
+  </sensor>
+  <gazebo reference="r_shoulder_3">
+    <sensor name="r_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_arm_ft" type="accelerometer">
+    <parent link="r_shoulder_3"/>
+    <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
+  </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 7761da1..cc58019 100644
--- a/iCub/robots/iCubGenova01/model.urdf
+++ b/iCub/robots/iCubGenova01/model.urdf
@@ -2691,6 +2691,34 @@
     <parent link="head"/>
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
+  <gazebo reference="l_shoulder_3">
+    <sensor name="l_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_arm_ft" type="accelerometer">
+    <parent link="l_shoulder_3"/>
+    <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
+  </sensor>
+  <gazebo reference="r_shoulder_3">
+    <sensor name="r_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_arm_ft" type="accelerometer">
+    <parent link="r_shoulder_3"/>
+    <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
+  </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index 6f8ffdc..24e9334 100644
--- a/iCub/robots/iCubGenova02/model.urdf
+++ b/iCub/robots/iCubGenova02/model.urdf
@@ -2320,6 +2320,34 @@
     <parent link="head"/>
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
+  <gazebo reference="l_shoulder_3">
+    <sensor name="l_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_arm_ft" type="accelerometer">
+    <parent link="l_shoulder_3"/>
+    <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
+  </sensor>
+  <gazebo reference="r_shoulder_3">
+    <sensor name="r_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_arm_ft" type="accelerometer">
+    <parent link="r_shoulder_3"/>
+    <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
+  </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index 3bd7b1d..0fc0bf0 100644
--- a/iCub/robots/iCubGenova04/model.urdf
+++ b/iCub/robots/iCubGenova04/model.urdf
@@ -2691,6 +2691,34 @@
     <parent link="head"/>
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
+  <gazebo reference="l_shoulder_3">
+    <sensor name="l_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_arm_ft" type="accelerometer">
+    <parent link="l_shoulder_3"/>
+    <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
+  </sensor>
+  <gazebo reference="r_shoulder_3">
+    <sensor name="r_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_arm_ft" type="accelerometer">
+    <parent link="r_shoulder_3"/>
+    <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
+  </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubGenova11/model.urdf b/iCub/robots/iCubGenova11/model.urdf
index d33784d..1b08e0c 100644
--- a/iCub/robots/iCubGenova11/model.urdf
+++ b/iCub/robots/iCubGenova11/model.urdf
@@ -2707,6 +2707,34 @@
     <parent link="head"/>
     <origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
   </sensor>
+  <gazebo reference="l_shoulder_3">
+    <sensor name="l_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_arm_ft" type="accelerometer">
+    <parent link="l_shoulder_3"/>
+    <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
+  </sensor>
+  <gazebo reference="r_shoulder_3">
+    <sensor name="r_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_arm_ft" type="accelerometer">
+    <parent link="r_shoulder_3"/>
+    <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
+  </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubWaterloo01/model.urdf b/iCub/robots/iCubWaterloo01/model.urdf
index d33784d..1b08e0c 100644
--- a/iCub/robots/iCubWaterloo01/model.urdf
+++ b/iCub/robots/iCubWaterloo01/model.urdf
@@ -2707,6 +2707,34 @@
     <parent link="head"/>
     <origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
   </sensor>
+  <gazebo reference="l_shoulder_3">
+    <sensor name="l_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_arm_ft" type="accelerometer">
+    <parent link="l_shoulder_3"/>
+    <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
+  </sensor>
+  <gazebo reference="r_shoulder_3">
+    <sensor name="r_arm_ft" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_arm_ft" type="accelerometer">
+    <parent link="r_shoulder_3"/>
+    <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
+  </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
       <always_on>1</always_on>