diff --git a/icub/conf/gazebo_icub_inertial.ini b/icub/conf/gazebo_icub_inertial.ini
index b313aa3..65d147a 100644
--- a/icub/conf/gazebo_icub_inertial.ini
+++ b/icub/conf/gazebo_icub_inertial.ini
@@ -1,7 +1,14 @@
 [include "gazebo_icub_robotname.ini"]
 
+[WRAPPER]
+device multipleanalogsensorsserver
+name /${gazeboYarpPluginsRobotName}/head/inertials
+period 10
+
+[ADDITIONAL_WRAPPER]
+device inertial
 name /${gazeboYarpPluginsRobotName}/inertial
 period 0.01
 
-device inertial
-subdevice gazebo_imu
+[IMU_DRIVER]
+device gazebo_imu