diff --git a/include/hpp/manipulation/device.hh b/include/hpp/manipulation/device.hh
index ac91cfdabfc4ec7d81ceef9a43f8bddde4f5ce07..10080879e0cb59e0af96a4a3d4c7b4e29f650bb9 100644
--- a/include/hpp/manipulation/device.hh
+++ b/include/hpp/manipulation/device.hh
@@ -68,6 +68,8 @@ namespace hpp {
         void setRobotRootPosition (const std::string& robotName,
                                    const Transform3f& positionWRTParentJoint);
 
+        virtual pinocchio::DevicePtr_t clone () const;
+
         /// \name Collisions
         /// \{
 
@@ -95,6 +97,12 @@ namespace hpp {
           self_ = self;
         }
 
+        void initCopy (const DeviceWkPtr_t& self, const Device& other)
+        {
+          Parent_t::initCopy (self, other);
+          self_ = self;
+        }
+
       private:
         DeviceWkPtr_t self_;
 
diff --git a/src/device.cc b/src/device.cc
index 75e9c7202652cb30b11d029f1ba9c48d887ace9c..19a83f130ec1f321d79cdaab8c78e2be1648ad05 100644
--- a/src/device.cc
+++ b/src/device.cc
@@ -32,6 +32,14 @@ namespace hpp {
     using se3::Frame;
     using se3::FrameIndex;
 
+    pinocchio::DevicePtr_t Device::clone () const
+    {
+      Device* ptr = new Device(*this);
+      DevicePtr_t shPtr (ptr);
+      ptr->initCopy (shPtr, *this);
+      return shPtr;
+    }
+
     void Device::setRobotRootPosition (const std::string& rn,
         const Transform3f& t)
     {
@@ -99,6 +107,5 @@ namespace hpp {
       Containers_t::print <GripperPtr_t> (os);
       return os;
     }
-
   } // namespace manipulation
 } // namespace hpp