diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8722812610..3121d2d89c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,6 +17,7 @@ All notable changes to this project are documented in this file.
 - Implement `MANNAutoregressive` class in `ML` component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/659)
 - Implement`UkfState` class in `RobotDynamicsEstimator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/669)
 - Implement `MANNTrajectoryGenerator` class in `ML` component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/668)
+- Implement a bash script to automatically log the audio along with the YarpRobotLoggerDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/681)
 
 ### Changed
 - Restructure application folders of `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/670)
diff --git a/devices/YarpRobotLoggerDevice/CMakeLists.txt b/devices/YarpRobotLoggerDevice/CMakeLists.txt
index e1c887116e..38844d6a23 100644
--- a/devices/YarpRobotLoggerDevice/CMakeLists.txt
+++ b/devices/YarpRobotLoggerDevice/CMakeLists.txt
@@ -54,5 +54,10 @@ if(FRAMEWORK_COMPILE_YarpRobotLoggerDevice)
       BipedalLocomotion::SystemYarpImplementation
       tiny-process-library::tiny-process-library
     CONFIGURE_PACKAGE_NAME yarp_robot_logger_device)
+
+  install(FILES scripts/blf-logger-with-audio.sh
+    PERMISSIONS OWNER_EXECUTE OWNER_WRITE OWNER_READ
+    DESTINATION "${CMAKE_INSTALL_BINDIR}")
+
 endif()
 
diff --git a/devices/YarpRobotLoggerDevice/scripts/blf-logger-with-audio.sh b/devices/YarpRobotLoggerDevice/scripts/blf-logger-with-audio.sh
new file mode 100755
index 0000000000..1d5b2ac440
--- /dev/null
+++ b/devices/YarpRobotLoggerDevice/scripts/blf-logger-with-audio.sh
@@ -0,0 +1,43 @@
+#!/usr/bin/env bash
+
+input_port_audio=$1
+
+# Function to handle SIGINT signal
+function handle_sigint {
+  echo "Received SIGINT signal. Forwarding to background programs..."
+  # Forward SIGINT to the background program
+  kill -SIGINT $bg_pid1 $bg_pid2
+}
+
+function handle_exit {
+  echo "Renaming the audio"
+
+  # get the latest matfile name
+  latest_file=$(find . -maxdepth 1 -type f -name "*.mat" -printf "%T@ %f\n" | sort -nr | head -n 1 | awk '{print $2}' | sed 's/\.mat$//')
+  mv audio_out.wav $latest_file.wav
+
+  echo "Closing"
+
+  exit
+}
+
+# launch the audio device recorder
+yarpdev --device AudioPlayerWrapper --name /YarpRobotLogger/audio --subdevice audioToFileDevice --start --file_name audio_out.wav --save_mode overwrite_file &
+bg_pid1=$!
+yarp wait /YarpRobotLogger/audio/audio:i
+yarp connect $input_port_audio /YarpRobotLogger/audio/audio:i fast_tcp
+
+# launch the logger device
+yarprobotinterface --config launch-yarp-robot-logger.xml &
+bg_pid2=$!
+
+# register the signal handlers
+trap handle_sigint SIGINT
+trap handle_exit EXIT
+
+# wait for closing the application
+wait "$bg_pid1"
+bg_exit_status1=$?
+
+wait "$bg_pid2"
+bg_exit_status2=$?