diff --git a/roscontrol_sot_talos/config/sot_talos_params.yaml b/roscontrol_sot_talos/config/sot_talos_params.yaml
index 32b27419815f5f1f59b2ed4740d3daaec76d1153..f776caf2d0b534f95e598f2487e188fbc8add475 100644
--- a/roscontrol_sot_talos/config/sot_talos_params.yaml
+++ b/roscontrol_sot_talos/config/sot_talos_params.yaml
@@ -7,8 +7,8 @@ sot_controller:
     arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint, head_1_joint, head_2_joint
   ]
   map_rc_to_sot_device: { motor-angles: motor-angles ,
-  joint-angles: joint-angles, velocities: velocities,
-  torques: torques, cmd-joints: control, cmd-effort: control }
+  joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
+  torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
   position_control_init_pos:
     - name: leg_left_1_joint
       des_pos: 0.0
diff --git a/roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml b/roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml
index 480ab0d225bb22dc6189c902f569896f19d00f94..067ae0b3d9380f6b6dacae3fa6dc14bd2994ff27 100644
--- a/roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml
+++ b/roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml
@@ -8,8 +8,8 @@ sot_controller:
     arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint, head_1_joint, head_2_joint
   ]
   map_rc_to_sot_device: { motor-angles: motor-angles ,
-  joint-angles: joint-angles, velocities: velocities,
-  torques: torques, cmd-joints: control, cmd-effort: control }
+  joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
+  torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
   position_control_init_pos:
     - name: leg_left_1_joint
       des_pos: 0.0