diff --git a/src/angle-estimator.cpp b/src/angle-estimator.cpp
index d1ff3c6f9bca7edf16c2a0d119c80bac59e25061..1ab34c4a9e9201595fbe0ca2f7c16df949c3f4bb 100644
--- a/src/angle-estimator.cpp
+++ b/src/angle-estimator.cpp
@@ -36,7 +36,7 @@ AngleEstimator::
 AngleEstimator( const std::string & name ) 
   :Entity(name)
   ,sensorWorldRotationSIN(NULL,"sotAngleEstimator("+name
-			  +")::input(MatrixHomo)::sensorWorldRotation")
+			  +")::input(MatrixRotation)::sensorWorldRotation")
   ,sensorEmbeddedPositionSIN(NULL,"sotAngleEstimator("+name
 			     +")::input(MatrixHomo)::sensorEmbeddedPosition")
   ,contactWorldPositionSIN(NULL,"sotAngleEstimator("+name