diff --git a/CHANGELOG.md b/CHANGELOG.md
index ff5ec2a77f..7c294d31b2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,7 +10,10 @@ All notable changes to this project are documented in this file.
 ### Changed
 - 🤖 [ergoCubSN001] Add logging of the wrist and fix the name of the waist imu (https://github.com/ami-iit/bipedal-locomotion-framework/pull/810)
 
+
 ### Fixed
+- Fix the barrier logic for threads synchronization (https://github.com/ami-iit/bipedal-locomotion-framework/pull/811)
+
 ### Removed
 
 ## [0.18.0] - 2024-01-23
diff --git a/src/System/include/BipedalLocomotion/System/AdvanceableRunner.h b/src/System/include/BipedalLocomotion/System/AdvanceableRunner.h
index 02664a9458..dd768fa284 100644
--- a/src/System/include/BipedalLocomotion/System/AdvanceableRunner.h
+++ b/src/System/include/BipedalLocomotion/System/AdvanceableRunner.h
@@ -117,7 +117,7 @@ template <class _Advanceable> class AdvanceableRunner
      * @return a thread of containing the running process. If the runner was not correctly
      * initialized the thread is invalid.
      */
-    std::thread run(std::optional<std::reference_wrapper<Barrier>> barrier = {});
+    std::thread run(std::shared_ptr<Barrier> barrier = nullptr);
 
     /**
      * Stop the thread
@@ -227,8 +227,7 @@ bool AdvanceableRunner<_Advanceable>::setOutputResource(
 }
 
 template <class _Advanceable>
-std::thread
-AdvanceableRunner<_Advanceable>::run(std::optional<std::reference_wrapper<Barrier>> barrier)
+std::thread AdvanceableRunner<_Advanceable>::run(std::shared_ptr<Barrier> barrier)
 {
     constexpr auto logPrefix = "[AdvanceableRunner::run]";
 
@@ -273,8 +272,18 @@ AdvanceableRunner<_Advanceable>::run(std::optional<std::reference_wrapper<Barrie
 
     // run the thread
     m_isRunning = true;
-    auto function = [&]() -> bool {
+    auto function = [&](std::shared_ptr<Barrier> barrier) -> bool {
         constexpr auto logPrefix = "[AdvanceableRunner::run]";
+
+        // synchronize the threads
+        if (!(barrier == nullptr))
+        {
+            log()->debug("{} - {} This thread is waiting for the other threads.",
+                         logPrefix,
+                         m_info.name);
+            barrier->wait();
+        }
+
         auto time = BipedalLocomotion::clock().now();
         auto oldTime = time;
         auto wakeUpTime = time;
@@ -363,16 +372,7 @@ AdvanceableRunner<_Advanceable>::run(std::optional<std::reference_wrapper<Barrie
         return this->m_advanceable->close();
     };
 
-    // if the barrier is passed the run method, synchronization is performed
-    if (barrier.has_value())
-    {
-        log()->debug("{} - {} This thread is waiting for the other threads.",
-                     logPrefix,
-                     m_info.name);
-        barrier.value().get().wait();
-    }
-
-    return std::thread(function);
+    return std::thread(function, barrier);
 }
 
 template <class _Advanceable> void AdvanceableRunner<_Advanceable>::stop()
diff --git a/src/System/include/BipedalLocomotion/System/Barrier.h b/src/System/include/BipedalLocomotion/System/Barrier.h
index a2576e1970..2b73dc7615 100644
--- a/src/System/include/BipedalLocomotion/System/Barrier.h
+++ b/src/System/include/BipedalLocomotion/System/Barrier.h
@@ -24,10 +24,9 @@ class Barrier
 {
 public:
     /**
-     * Constructor.
-     * @param counter initial value of the expected counter
+     * Calls the constructor. It creates a new Barrier with the given counter.
      */
-    explicit Barrier(const std::size_t counter);
+    static std::shared_ptr<Barrier> create(const std::size_t counter);
 
     /**
      * Blocks this thread at the phase synchronization point until its phase completion step is run
@@ -40,6 +39,12 @@ class Barrier
     std::size_t m_initialCount;
     std::size_t m_count;
     std::size_t m_generation;
+
+    /**
+     * Constructor.
+     * @param counter initial value of the expected counter
+     */
+    explicit Barrier(const std::size_t counter);
 };
 } // namespace System
 } // namespace BipedalLocomotion
diff --git a/src/System/src/Barrier.cpp b/src/System/src/Barrier.cpp
index b51901c240..661d71b5d7 100644
--- a/src/System/src/Barrier.cpp
+++ b/src/System/src/Barrier.cpp
@@ -5,9 +5,11 @@
  * distributed under the terms of the BSD-3-Clause license.
  */
 
+#include <memory>
 #include <mutex>
 
 #include <BipedalLocomotion/System/Barrier.h>
+#include <BipedalLocomotion/TextLogging/Logger.h>
 
 using namespace BipedalLocomotion::System;
 
@@ -18,11 +20,18 @@ Barrier::Barrier(const std::size_t counter)
 {
 }
 
+std::shared_ptr<Barrier> Barrier::create(const std::size_t counter)
+{
+    return std::shared_ptr<Barrier>(new Barrier(counter));
+}
+
 void Barrier::wait()
 {
+    constexpr auto logPrefix = "[Barrier::wait]";
+
     std::unique_lock lock{m_mutex};
     const auto tempGeneration = m_generation;
-    if ((--m_count) == 1)
+    if ((--m_count) == 0)
     {
         // all threads reached the barrier, so we can consider them synchronized
         m_generation++;
@@ -31,6 +40,7 @@ void Barrier::wait()
         m_count = m_initialCount;
 
         // notify the other threads
+        log()->debug("{} All threads reached the barrier.", logPrefix);
         m_cond.notify_all();
     } else
     {
diff --git a/src/System/tests/AdvanceableRunnerTest.cpp b/src/System/tests/AdvanceableRunnerTest.cpp
index 9ce4658934..6504cd6cd1 100644
--- a/src/System/tests/AdvanceableRunnerTest.cpp
+++ b/src/System/tests/AdvanceableRunnerTest.cpp
@@ -15,6 +15,7 @@
 #include <BipedalLocomotion/System/Barrier.h>
 #include <BipedalLocomotion/System/SharedResource.h>
 #include <BipedalLocomotion/System/Source.h>
+#include <memory>
 
 using namespace BipedalLocomotion::System;
 using namespace BipedalLocomotion::ParametersHandler;
@@ -120,7 +121,7 @@ TEST_CASE("Test Block")
     SECTION("With synchronization")
     {
         constexpr std::size_t numberOfRunners = 2;
-        Barrier barrier(numberOfRunners);
+        auto barrier = Barrier::create(numberOfRunners);
 
         // run the block
         auto thread0 = runner0.run(barrier);