diff --git a/Sofa/framework/Core/src/sofa/core/DerivativeMatrix.h b/Sofa/framework/Core/src/sofa/core/DerivativeMatrix.h
index f64172169c5..eee2a173c9d 100644
--- a/Sofa/framework/Core/src/sofa/core/DerivativeMatrix.h
+++ b/Sofa/framework/Core/src/sofa/core/DerivativeMatrix.h
@@ -50,6 +50,8 @@ class DerivativeMatrix : public MechanicalStatesMatrixAccumulators<c>
         void operator+=(const sofa::type::Mat<2, 2, double>& value) const { mat->add(row, col, value); }
         void operator+=(const sofa::type::Mat<3, 3, float> & value) const { mat->add(row, col, value); }
         void operator+=(const sofa::type::Mat<3, 3, double>& value) const { mat->add(row, col, value); }
+        void operator+=(const sofa::type::Mat<6, 6, float> & value) const { mat->add(row, col, value); }
+        void operator+=(const sofa::type::Mat<6, 6, double>& value) const { mat->add(row, col, value); }
 
         [[nodiscard]] bool isValid() const { return mat != nullptr; }
         operator bool() const { return isValid(); }
diff --git a/Sofa/framework/Core/src/sofa/core/MatrixAccumulator.cpp b/Sofa/framework/Core/src/sofa/core/MatrixAccumulator.cpp
index 56f64a15816..0c8e7474a57 100644
--- a/Sofa/framework/Core/src/sofa/core/MatrixAccumulator.cpp
+++ b/Sofa/framework/Core/src/sofa/core/MatrixAccumulator.cpp
@@ -60,6 +60,18 @@ void MatrixAccumulatorInterface::add(sofa::SignedIndex row, sofa::SignedIndex co
     matAdd(row, col, value);
 }
 
+void MatrixAccumulatorInterface::add(sofa::SignedIndex row, sofa::SignedIndex col,
+    const sofa::type::Mat<6, 6, float>& value)
+{
+    matAdd(row, col, value);
+}
+
+void MatrixAccumulatorInterface::add(sofa::SignedIndex row, sofa::SignedIndex col,
+    const sofa::type::Mat<6, 6, double>& value)
+{
+    matAdd(row, col, value);
+}
+
 helper::logging::MessageDispatcher::LoggerStream matrixaccumulator::RangeVerification::
 logger() const
 {
diff --git a/Sofa/framework/Core/src/sofa/core/MatrixAccumulator.h b/Sofa/framework/Core/src/sofa/core/MatrixAccumulator.h
index 53bf7d77b75..0606bfdfd27 100644
--- a/Sofa/framework/Core/src/sofa/core/MatrixAccumulator.h
+++ b/Sofa/framework/Core/src/sofa/core/MatrixAccumulator.h
@@ -43,6 +43,8 @@ class SOFA_CORE_API MatrixAccumulatorInterface
     virtual void add(sofa::SignedIndex row, sofa::SignedIndex col, const sofa::type::Mat<2, 2, double>& value);
     virtual void add(sofa::SignedIndex row, sofa::SignedIndex col, const sofa::type::Mat<3, 3, float> & value);
     virtual void add(sofa::SignedIndex row, sofa::SignedIndex col, const sofa::type::Mat<3, 3, double>& value);
+    virtual void add(sofa::SignedIndex row, sofa::SignedIndex col, const sofa::type::Mat<6, 6, float> & value);
+    virtual void add(sofa::SignedIndex row, sofa::SignedIndex col, const sofa::type::Mat<6, 6, double>& value);
 
     virtual void clear() {}