diff --git a/iCubChemnitz01/icub_analog_only.xml b/iCubChemnitz01/icub_analog_only.xml
index ffa4dc357b..c3093ff650 100644
--- a/iCubChemnitz01/icub_analog_only.xml
+++ b/iCubChemnitz01/icub_analog_only.xml
@@ -65,11 +65,13 @@
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
+    <!--
     <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
     <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />  
     <devices file="hardware/skin/left_hand_inertial_mtb.xml" />  
     <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  
-
+    -->
+    
     <!-- CALIBRATORS -->
 	<!--
     <devices file="calibrators2/head_calib.xml" /> 
diff --git a/iCubGenova01/icub_analog_only.xml b/iCubGenova01/icub_analog_only.xml
index 01252e7138..555fdfa3d6 100644
--- a/iCubGenova01/icub_analog_only.xml
+++ b/iCubGenova01/icub_analog_only.xml
@@ -65,11 +65,13 @@
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
+    <!--
     <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
     <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />  
     <devices file="hardware/skin/left_hand_inertial_mtb.xml" />  
     <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  
-
+    -->
+    
     <!-- CALIBRATORS -->
 	<!--
     <devices file="calibrators/head_calib.xml" /> 
diff --git a/iCubGrenoble01/icub_all.xml b/iCubGrenoble01/icub_all.xml
index 25b7c1721d..a23c65a52c 100644
--- a/iCubGrenoble01/icub_all.xml
+++ b/iCubGrenoble01/icub_all.xml
@@ -62,10 +62,12 @@
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
-    <!-- <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />
-    <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />
-    <devices file="hardware/skin/left_hand_inertial_mtb.xml" />
-    <devices file="hardware/skin/right_hand_inertial_mtb.xml" />-->
+    <!--
+    <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
+    <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />  
+    <devices file="hardware/skin/left_hand_inertial_mtb.xml" />  
+    <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  
+    -->
 
     <!-- CALIBRATORS -->
     <devices file="calibrators/head_calib.xml" />
diff --git a/iCubGrenoble01/icub_all_nocalibrator.xml b/iCubGrenoble01/icub_all_nocalibrator.xml
index ea0fb50693..7f783b7c90 100644
--- a/iCubGrenoble01/icub_all_nocalibrator.xml
+++ b/iCubGrenoble01/icub_all_nocalibrator.xml
@@ -62,10 +62,12 @@
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
-    <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />
-    <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />
-    <devices file="hardware/skin/left_hand_inertial_mtb.xml" />
-    <devices file="hardware/skin/right_hand_inertial_mtb.xml" />
+    <!--
+    <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
+    <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />  
+    <devices file="hardware/skin/left_hand_inertial_mtb.xml" />  
+    <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  
+    -->
 
 
 </robot>
diff --git a/iCubGrenoble01/icub_analog_only.xml b/iCubGrenoble01/icub_analog_only.xml
index 942e9e3a15..ca84b289b0 100644
--- a/iCubGrenoble01/icub_analog_only.xml
+++ b/iCubGrenoble01/icub_analog_only.xml
@@ -70,10 +70,12 @@
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
-    <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />
-    <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />
-    <devices file="hardware/skin/left_hand_inertial_mtb.xml" />
-    <devices file="hardware/skin/right_hand_inertial_mtb.xml" />
+    <!--
+    <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
+    <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />  
+    <devices file="hardware/skin/left_hand_inertial_mtb.xml" />  
+    <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  
+    -->
 
     <!-- CALIBRATORS -->
 	<!--
diff --git a/iCubHertfordshire01/icub_all.xml b/iCubHertfordshire01/icub_all.xml
index 1257230c50..e73b9556bf 100644
--- a/iCubHertfordshire01/icub_all.xml
+++ b/iCubHertfordshire01/icub_all.xml
@@ -59,10 +59,12 @@
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
+    <!--
     <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
     <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />  
     <devices file="hardware/skin/left_hand_inertial_mtb.xml" />  
     <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  
+    -->
 
     <!-- CALIBRATORS -->
     <devices file="calibrators/head_calib.xml" /> 
diff --git a/iCubParis01/icub_all.xml b/iCubParis01/icub_all.xml
index bf9d8a4abd..08eeb27700 100644
--- a/iCubParis01/icub_all.xml
+++ b/iCubParis01/icub_all.xml
@@ -57,10 +57,12 @@
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
- <!--   <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
+    <!--
+    <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
     <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />  
     <devices file="hardware/skin/left_hand_inertial_mtb.xml" />  
-    <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  -->
+    <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  
+    -->
 
     <!-- CALIBRATORS -->
     <devices file="calibrators/head_calib.xml" /> 
diff --git a/iCubParis02/icub_all.xml b/iCubParis02/icub_all.xml
index e553c2e462..fc130d2d6a 100644
--- a/iCubParis02/icub_all.xml
+++ b/iCubParis02/icub_all.xml
@@ -74,10 +74,12 @@
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
+    <!--
     <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
     <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />  
     <devices file="hardware/skin/left_hand_inertial_mtb.xml" />  
     <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  
+    -->
 
     <!-- CALIBRATORS -->
     <devices file="calibrators/head_calib.xml" /> 
diff --git a/iCubParis02/icub_analog_only.xml b/iCubParis02/icub_analog_only.xml
index f69484014b..3b278af3c8 100644
--- a/iCubParis02/icub_analog_only.xml
+++ b/iCubParis02/icub_analog_only.xml
@@ -82,10 +82,12 @@
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
+    <!--
     <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
     <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />  
     <devices file="hardware/skin/left_hand_inertial_mtb.xml" />  
     <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  
+    -->
 
     <!-- CALIBRATORS -->
 	<!--
diff --git a/iCubTemplateV1_7/icub_all.xml b/iCubTemplateV1_7/icub_all.xml
index 1257230c50..e73b9556bf 100644
--- a/iCubTemplateV1_7/icub_all.xml
+++ b/iCubTemplateV1_7/icub_all.xml
@@ -59,10 +59,12 @@
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
+    <!--
     <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
     <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />  
     <devices file="hardware/skin/left_hand_inertial_mtb.xml" />  
     <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  
+    -->
 
     <!-- CALIBRATORS -->
     <devices file="calibrators/head_calib.xml" /> 
diff --git a/iCubTemplate_RI/icub_all.xml b/iCubTemplate_RI/icub_all.xml
index f0d0901379..08eeb27700 100644
--- a/iCubTemplate_RI/icub_all.xml
+++ b/iCubTemplate_RI/icub_all.xml
@@ -57,10 +57,12 @@
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
+    <!--
     <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
     <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />  
     <devices file="hardware/skin/left_hand_inertial_mtb.xml" />  
     <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  
+    -->
 
     <!-- CALIBRATORS -->
     <devices file="calibrators/head_calib.xml" /> 
diff --git a/iCubTemplate_RI/icub_analog_only.xml b/iCubTemplate_RI/icub_analog_only.xml
index 98b24d0a25..8946892a3c 100644
--- a/iCubTemplate_RI/icub_analog_only.xml
+++ b/iCubTemplate_RI/icub_analog_only.xml
@@ -65,10 +65,12 @@
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
+    <!--
     <devices file="wrappers/skin/left_hand_inertial_wrapper.xml" />  
     <devices file="wrappers/skin/right_hand_inertial_wrapper.xml" />  
     <devices file="hardware/skin/left_hand_inertial_mtb.xml" />  
     <devices file="hardware/skin/right_hand_inertial_mtb.xml" />  
+    -->
 
     <!-- CALIBRATORS -->
 	<!--