diff --git a/iCubMunich01/hardware/skin/left_arm.xml b/iCubMunich01/hardware/skin/left_arm.xml
index 3a8ca914e1..fa5ff48db6 100644
--- a/iCubMunich01/hardware/skin/left_arm.xml
+++ b/iCubMunich01/hardware/skin/left_arm.xml
@@ -1,14 +1,13 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">
 
- <!-- Initialization file for cfw002  motor contol for the head - 6 joints -->
 <devices robot="iCubMunich01" build="1"> 
   <device name="left_arm_skin" type="canBusSkin">
       <params file="general.xml" />
 
 	  <params robot="iCubMunich01" build="1">
         <param name="canDeviceNum"> 7         </param>
-        <param name="skinCanIds">   15  </param>
+        <param name="skinCanIds">   14 13 12 11 10 9 8  </param>
         <param name="period"> 10              </param>
         <param name="canbusDevice"> cfw2can   </param>
       </params>
diff --git a/iCubMunich01/hardware/skin/right_arm.xml b/iCubMunich01/hardware/skin/right_arm.xml
index f58237d3a0..eae1bc9055 100644
--- a/iCubMunich01/hardware/skin/right_arm.xml
+++ b/iCubMunich01/hardware/skin/right_arm.xml
@@ -6,9 +6,9 @@
   <device name="right_arm_skin" type="canBusSkin">
       <params file="general.xml" />
 
-	  <params robot="iCubMunich01" build="1">
+     <params robot="iCubMunich01" build="1">
         <param name="canDeviceNum"> 8         </param>
-        <param name="skinCanIds">   15  </param>
+        <param name="skinCanIds">   14 13 12 11 10 9 8  </param>
         <param name="period"> 10              </param>
         <param name="canbusDevice"> cfw2can   </param>
       </params>
diff --git a/iCubMunich01/hardware/skin/torso-cfw2_can9-skinSpec.xml b/iCubMunich01/hardware/skin/torso-cfw2_can9-skinSpec.xml
new file mode 100644
index 0000000000..b1ccb7641b
--- /dev/null
+++ b/iCubMunich01/hardware/skin/torso-cfw2_can9-skinSpec.xml
@@ -0,0 +1,38 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE params PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">
+
+<params robot="iCubMunich01" build="1">
+
+        <group name="defaultCfgBoard">
+            <param name="period">        50  </param> 
+            <param name="skinType">      0  </param> <!-- 0 ==> new skin
+                                                              1 ==> palm and fingertips skin
+                                                              2 ==> old skin without temperature compensation -->
+            <param name="noLoad">         0xf0  </param>
+            <param name="diagnostic">    false  </param>     <!-- used to config high level -->
+        </group>
+        
+        
+       <group name="defaultCfgTriangle">
+            <param name="enabled">         false    </param> 
+            <param name="shift">           2        </param>
+            <param name="cdcOffset">       0x2200   </param>
+        </group>
+        
+		<group name="specialCfgTriangles">
+        <param name="numOfSets">         7  </param> <!-- id starts from 1 for triangleSetCfg-->
+        <!--                                 patch       boardAddr    idStart       idEnd        enabled          shift       cdcOffset      -->
+           <param name="triangleSetCfg1">      9            7         5             11              1              2           0x2200       </param> <!-- fingertips -->                        
+           
+		   <param name="triangleSetCfg2">      9            8         1             3               1              2           0x2200       </param>		   
+		   <param name="triangleSetCfg3">      9            8         6             13              1              2           0x2200       </param>
+		   
+		   <param name="triangleSetCfg4">      9            9         0             15              1              2           0x2200       </param>
+		   
+		   <param name="triangleSetCfg5">      9            10        1             2               1              2           0x2200       </param>
+		   <param name="triangleSetCfg6">      9            10        4             4               1              2           0x2200       </param>
+		   <param name="triangleSetCfg7">      9            10        8             14              1              2           0x2200       </param>
+		   
+		   
+    </group> 
+</params>
diff --git a/iCubMunich01/hardware/skin/torso.xml b/iCubMunich01/hardware/skin/torso.xml
new file mode 100644
index 0000000000..436f736e00
--- /dev/null
+++ b/iCubMunich01/hardware/skin/torso.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">
+
+ 
+<devices robot="iCubMunich01" build="1"> 
+  <device name="torso_skin" type="canBusSkin">
+      <params file="general.xml" />
+
+	  <params robot="iCubGenova01" build="1">
+        <param name="canDeviceNum"> 9         </param>
+        <param name="skinCanIds">   7 8 9 10  </param>
+        <param name="period"> 10              </param>
+        <param name="canbusDevice"> cfw2can   </param>
+      </params>
+    <params file="hardware/skin/torso-cfw2_can9-skinSpec.xml" /> 
+  </device>
+</devices>
diff --git a/iCubMunich01/iCub_Calibration_iCubMunich01.xls b/iCubMunich01/iCub_Calibration_iCubMunich01.xls
new file mode 100644
index 0000000000..ee2ebe2d16
Binary files /dev/null and b/iCubMunich01/iCub_Calibration_iCubMunich01.xls differ
diff --git a/iCubMunich01/wrappers/skin/left_arm_skin_wrapper.xml b/iCubMunich01/wrappers/skin/left_arm_skin_wrapper.xml
index c3337563d3..9d37380303 100644
--- a/iCubMunich01/wrappers/skin/left_arm_skin_wrapper.xml
+++ b/iCubMunich01/wrappers/skin/left_arm_skin_wrapper.xml
@@ -1,14 +1,16 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">
-<!-- La skin ha bisogno delle info presenti nella parte eln e di info per il suo wrapper, qui sotto -->
+
 <devices robot="iCubMunich01" build="1">
 	<device name="left_arm_skin_wrapper" type="skinWrapper">
 		<param name="period">       20  				</param>
-		<param name="total_taxels"> 192				</param>
+		<param name="total_taxels"> 1344				</param>
 		<param name="device">       skinWrapper				</param>
 		
 		<paramlist name="ports">
 		  <elem name="left_hand"> 	0   191  0 191</elem>
+		  <elem name="left_forearm"> 	192 575  0 383</elem>
+		  <elem name="left_arm"> 	576 1343 0 767</elem>
 		</paramlist>
 		
 		<action phase="startup" level="5" type="attach">
diff --git a/iCubMunich01/wrappers/skin/right_arm_skin_wrapper.xml b/iCubMunich01/wrappers/skin/right_arm_skin_wrapper.xml
index 4c5f71e9c7..8ade82ff47 100644
--- a/iCubMunich01/wrappers/skin/right_arm_skin_wrapper.xml
+++ b/iCubMunich01/wrappers/skin/right_arm_skin_wrapper.xml
@@ -1,14 +1,16 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">
-<!-- La skin ha bisogno delle info presenti nella parte eln e di info per il suo wrapper, qui sotto -->
+
 <devices robot="iCubMunich01" build="1">
 	<device name="right_arm_skin_wrapper" type="skinWrapper">
 		<param name="period">       20  				</param>
-		<param name="total_taxels"> 192				</param>
+		<param name="total_taxels"> 1344				</param>
 		<param name="device">       skinWrapper				</param>
 		
 		<paramlist name="ports">
 		  <elem name="right_hand"> 	0   191  0 191</elem>
+		  <elem name="right_forearm"> 	192 575  0 383</elem>
+		  <elem name="right_arm"> 	576 1343 0 767</elem>
 		</paramlist>
 		
 		<action phase="startup" level="5" type="attach">
diff --git a/iCubMunich01/wrappers/skin/torso_skin_wrapper.xml b/iCubMunich01/wrappers/skin/torso_skin_wrapper.xml
new file mode 100644
index 0000000000..ac5d0e8ff7
--- /dev/null
+++ b/iCubMunich01/wrappers/skin/torso_skin_wrapper.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">
+
+<devices robot="iCubMunich01" build="1">
+	<device name="torso_skin_wrapper" type="skinWrapper">
+		<param name="period">       20  				</param>
+		<param name="total_taxels"> 768				</param>
+		<param name="device">       skinWrapper				</param>
+		
+		<paramlist name="ports">
+		  <elem name="torso"> 	0   767  0 767	</elem>
+		</paramlist>
+		
+		<action phase="startup" level="5" type="attach">
+		    <paramlist name="networks">
+		<!-- The param value must match the device name in the corresponding emsX file -->
+		        <elem name="FirstSetOfSkins">  torso_skin </elem>
+		    </paramlist>
+		</action>
+
+		<action phase="shutdown" level="5" type="detach" />
+	</device>
+</devices>