diff --git a/remappers/CMakeLists.txt b/remappers/CMakeLists.txt
index 3b6aa87bd..9e4a67c46 100644
--- a/remappers/CMakeLists.txt
+++ b/remappers/CMakeLists.txt
@@ -1,7 +1,7 @@
 # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
-add_subdirectory(HumanStateRemapper)
+add_subdirectory(HumanState_nwc_yarp)
 add_subdirectory(HumanDynamics_nwc_yarp)
 add_subdirectory(HumanWrenchRemapper)
 add_subdirectory(WearableTargetsRemapper)
diff --git a/remappers/HumanStateRemapper/CMakeLists.txt b/remappers/HumanState_nwc_yarp/CMakeLists.txt
similarity index 60%
rename from remappers/HumanStateRemapper/CMakeLists.txt
rename to remappers/HumanState_nwc_yarp/CMakeLists.txt
index e6457b0e7..2d09ba978 100644
--- a/remappers/HumanStateRemapper/CMakeLists.txt
+++ b/remappers/HumanState_nwc_yarp/CMakeLists.txt
@@ -1,21 +1,21 @@
 # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
-yarp_prepare_plugin(human_state_remapper
-    TYPE hde::devices::HumanStateRemapper
-    INCLUDE HumanStateRemapper.h
+yarp_prepare_plugin(human_state_nwc_yarp
+    TYPE hde::devices::HumanState_nwc_yarp
+    INCLUDE HumanState_nwc_yarp.h
     CATEGORY device
     ADVANCED
     DEFAULT ON)
 
-yarp_add_plugin(HumanStateRemapper
-    HumanStateRemapper.cpp
-    HumanStateRemapper.h)
+yarp_add_plugin(HumanState_nwc_yarp
+    HumanState_nwc_yarp.cpp
+    HumanState_nwc_yarp.h)
 
-target_include_directories(HumanStateRemapper PUBLIC
+target_include_directories(HumanState_nwc_yarp PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>)
 
-target_link_libraries(HumanStateRemapper PUBLIC
+target_link_libraries(HumanState_nwc_yarp PUBLIC
     IHumanState
     HumanStateMsg
     YARP::YARP_OS
@@ -23,7 +23,7 @@ target_link_libraries(HumanStateRemapper PUBLIC
     YARP::YARP_init)
 
 yarp_install(
-    TARGETS HumanStateRemapper
+    TARGETS HumanState_nwc_yarp
     COMPONENT runtime
     LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
     ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}
diff --git a/remappers/HumanStateRemapper/HumanStateRemapper.cpp b/remappers/HumanState_nwc_yarp/HumanState_nwc_yarp.cpp
similarity index 81%
rename from remappers/HumanStateRemapper/HumanStateRemapper.cpp
rename to remappers/HumanState_nwc_yarp/HumanState_nwc_yarp.cpp
index 0ff9a3909..807b50bea 100644
--- a/remappers/HumanStateRemapper/HumanStateRemapper.cpp
+++ b/remappers/HumanState_nwc_yarp/HumanState_nwc_yarp.cpp
@@ -1,7 +1,7 @@
 // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 // SPDX-License-Identifier: BSD-3-Clause
 
-#include "HumanStateRemapper.h"
+#include "HumanState_nwc_yarp.h"
 
 #include <hde/msgs/HumanState.h>
 
@@ -11,8 +11,8 @@
 #include <iostream>
 #include <mutex>
 
-const std::string RemapperName = "HumanStateRemapper";
-const std::string LogPrefix = RemapperName + " :";
+const std::string ClientName = "HumanState_nwc_yarp";
+const std::string LogPrefix = ClientName + " :";
 
 using namespace hde::devices;
 
@@ -20,7 +20,7 @@ using namespace hde::devices;
 // IMPL AND UTILS
 // ==============
 
-class HumanStateRemapper::impl
+class HumanState_nwc_yarp::impl
 {
 public:
     std::mutex mtx;
@@ -44,17 +44,17 @@ class HumanStateRemapper::impl
 };
 
 // ====================
-// IHUMANSTATE REMAPPER
+// IHUMANSTATE CLIENT
 // ====================
 
-HumanStateRemapper::HumanStateRemapper()
+HumanState_nwc_yarp::HumanState_nwc_yarp()
     : PeriodicThread(1)
     , pImpl{new impl()}
 {}
 
-HumanStateRemapper::~HumanStateRemapper() = default;
+HumanState_nwc_yarp::~HumanState_nwc_yarp() = default;
 
-bool HumanStateRemapper::open(yarp::os::Searchable& config)
+bool HumanState_nwc_yarp::open(yarp::os::Searchable& config)
 {
     // ===============================
     // CHECK THE CONFIGURATION OPTIONS
@@ -111,10 +111,10 @@ bool HumanStateRemapper::open(yarp::os::Searchable& config)
     return true;
 }
 
-void HumanStateRemapper::threadRelease()
+void HumanState_nwc_yarp::threadRelease()
 {}
 
-bool HumanStateRemapper::close()
+bool HumanState_nwc_yarp::close()
 {
     pImpl->terminationCall = true;
 
@@ -125,12 +125,12 @@ bool HumanStateRemapper::close()
     return true;
 }
 
-void HumanStateRemapper::run()
+void HumanState_nwc_yarp::run()
 {
     return;
 }
 
-void HumanStateRemapper::onRead(hde::msgs::HumanState& humanStateData)
+void HumanState_nwc_yarp::onRead(hde::msgs::HumanState& humanStateData)
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     if(!pImpl->terminationCall) {
@@ -151,61 +151,61 @@ void HumanStateRemapper::onRead(hde::msgs::HumanState& humanStateData)
     }
 }
 
-std::vector<std::string> HumanStateRemapper::getJointNames() const
+std::vector<std::string> HumanState_nwc_yarp::getJointNames() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
 
     return pImpl->jointNames;
 }
 
-std::string HumanStateRemapper::getBaseName() const
+std::string HumanState_nwc_yarp::getBaseName() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->baseName;
 }
-size_t HumanStateRemapper::getNumberOfJoints() const
+size_t HumanState_nwc_yarp::getNumberOfJoints() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->jointPositions.size();
 }
 
-std::vector<double> HumanStateRemapper::getJointPositions() const
+std::vector<double> HumanState_nwc_yarp::getJointPositions() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->jointPositions;
 }
 
-std::vector<double> HumanStateRemapper::getJointVelocities() const
+std::vector<double> HumanState_nwc_yarp::getJointVelocities() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->jointVelocities;
 }
 
-std::array<double, 3> HumanStateRemapper::getBasePosition() const
+std::array<double, 3> HumanState_nwc_yarp::getBasePosition() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->basePosition;
 }
 
-std::array<double, 4> HumanStateRemapper::getBaseOrientation() const
+std::array<double, 4> HumanState_nwc_yarp::getBaseOrientation() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->baseOrientation;
 }
 
-std::array<double, 6> HumanStateRemapper::getBaseVelocity() const
+std::array<double, 6> HumanState_nwc_yarp::getBaseVelocity() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->baseVelocity;
 }
 
-std::array<double, 3> HumanStateRemapper::getCoMPosition() const
+std::array<double, 3> HumanState_nwc_yarp::getCoMPosition() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->CoMPosition;
 }
 
-std::array<double, 3> HumanStateRemapper::getCoMVelocity() const
+std::array<double, 3> HumanState_nwc_yarp::getCoMVelocity() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->CoMVelocity;
diff --git a/remappers/HumanStateRemapper/HumanStateRemapper.h b/remappers/HumanState_nwc_yarp/HumanState_nwc_yarp.h
similarity index 86%
rename from remappers/HumanStateRemapper/HumanStateRemapper.h
rename to remappers/HumanState_nwc_yarp/HumanState_nwc_yarp.h
index 196404d16..e4228f694 100644
--- a/remappers/HumanStateRemapper/HumanStateRemapper.h
+++ b/remappers/HumanState_nwc_yarp/HumanState_nwc_yarp.h
@@ -1,8 +1,8 @@
 // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 // SPDX-License-Identifier: BSD-3-Clause
 
-#ifndef HDE_DEVICES_HUMANSTATEREMAPPER
-#define HDE_DEVICES_HUMANSTATEREMAPPER
+#ifndef HDE_DEVICES_HUMANSTATE_NWC_YARP
+#define HDE_DEVICES_HUMANSTATE_NWC_YARP
 
 #include <hde/interfaces/IHumanState.h>
 
@@ -17,10 +17,10 @@ namespace hde::msgs {
     class HumanState;
 } // namespace hde::msgs
 namespace hde::devices {
-    class HumanStateRemapper;
+    class HumanState_nwc_yarp;
 } // namespace hde::devices
 
-class hde::devices::HumanStateRemapper final
+class hde::devices::HumanState_nwc_yarp final
     : public yarp::dev::DeviceDriver
     , public hde::interfaces::IHumanState
     , public yarp::os::TypedReaderCallback<hde::msgs::HumanState>
@@ -31,8 +31,8 @@ class hde::devices::HumanStateRemapper final
     std::unique_ptr<impl> pImpl;
 
 public:
-    HumanStateRemapper();
-    ~HumanStateRemapper() override;
+    HumanState_nwc_yarp();
+    ~HumanState_nwc_yarp() override;
 
     std::mutex mtx;
 
@@ -64,4 +64,4 @@ class hde::devices::HumanStateRemapper final
     std::array<double, 3> getCoMVelocity() const override;
 };
 
-#endif // HDE_DEVICES_HUMANSTATEREMAPPER
+#endif // HDE_DEVICES_HUMANSTATE_NWC_YARP
diff --git a/wrappers/CMakeLists.txt b/wrappers/CMakeLists.txt
index fefe58717..abdb7c6ef 100644
--- a/wrappers/CMakeLists.txt
+++ b/wrappers/CMakeLists.txt
@@ -1,7 +1,7 @@
 # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
-add_subdirectory(HumanStateWrapper)
+add_subdirectory(HumanState_nws_yarp)
 add_subdirectory(HumanDynamics_nws_yarp)
 add_subdirectory(HumanWrenchWrapper)
 add_subdirectory(WearableTargetsWrapper)
diff --git a/wrappers/HumanStateWrapper/CMakeLists.txt b/wrappers/HumanState_nws_yarp/CMakeLists.txt
similarity index 60%
rename from wrappers/HumanStateWrapper/CMakeLists.txt
rename to wrappers/HumanState_nws_yarp/CMakeLists.txt
index 2e7a5607a..638e43f51 100644
--- a/wrappers/HumanStateWrapper/CMakeLists.txt
+++ b/wrappers/HumanState_nws_yarp/CMakeLists.txt
@@ -1,21 +1,21 @@
 # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
-yarp_prepare_plugin(human_state_wrapper
-    TYPE hde::wrappers::HumanStateWrapper
-    INCLUDE HumanStateWrapper.h
+yarp_prepare_plugin(human_state_nws_yarp
+    TYPE hde::wrappers::HumanState_nws_yarp
+    INCLUDE HumanState_nws_yarp.h
     CATEGORY device
     ADVANCED
     DEFAULT ON)
 
-yarp_add_plugin(HumanStateWrapper
-    HumanStateWrapper.cpp
-    HumanStateWrapper.h)
+yarp_add_plugin(HumanState_nws_yarp
+    HumanState_nws_yarp.cpp
+    HumanState_nws_yarp.h)
 
-target_include_directories(HumanStateWrapper PUBLIC
+target_include_directories(HumanState_nws_yarp PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>)
 
-target_link_libraries(HumanStateWrapper PUBLIC
+target_link_libraries(HumanState_nws_yarp PUBLIC
     IHumanState
     HumanStateMsg
     YARP::YARP_OS
@@ -23,7 +23,7 @@ target_link_libraries(HumanStateWrapper PUBLIC
     YARP::YARP_init)
 
 yarp_install(
-    TARGETS HumanStateWrapper
+    TARGETS HumanState_nws_yarp
     COMPONENT runtime
     LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
     ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}
diff --git a/wrappers/HumanStateWrapper/HumanStateWrapper.cpp b/wrappers/HumanState_nws_yarp/HumanState_nws_yarp.cpp
similarity index 92%
rename from wrappers/HumanStateWrapper/HumanStateWrapper.cpp
rename to wrappers/HumanState_nws_yarp/HumanState_nws_yarp.cpp
index 0c7eb881a..f279f2a4b 100644
--- a/wrappers/HumanStateWrapper/HumanStateWrapper.cpp
+++ b/wrappers/HumanState_nws_yarp/HumanState_nws_yarp.cpp
@@ -1,7 +1,7 @@
 // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 // SPDX-License-Identifier: BSD-3-Clause
 
-#include "HumanStateWrapper.h"
+#include "HumanState_nws_yarp.h"
 #include <hde/interfaces/IHumanState.h>
 #include <hde/msgs/HumanState.h>
 
@@ -9,13 +9,13 @@
 #include <yarp/os/LogStream.h>
 #include <yarp/sig/Vector.h>
 
-const std::string DeviceName = "HumanStateWrapper";
+const std::string DeviceName = "HumanState_nws_yarp";
 const std::string LogPrefix = DeviceName + " :";
 constexpr double DefaultPeriod = 0.01;
 
 using namespace hde::wrappers;
 
-class HumanStateWrapper::impl
+class HumanState_nws_yarp::impl
 {
 public:
     hde::interfaces::IHumanState* iHumanState = nullptr;
@@ -33,14 +33,14 @@ class HumanStateWrapper::impl
     std::string baseName;
 };
 
-HumanStateWrapper::HumanStateWrapper()
+HumanState_nws_yarp::HumanState_nws_yarp()
     : PeriodicThread(DefaultPeriod)
     , pImpl{new impl()}
 {}
 
-HumanStateWrapper::~HumanStateWrapper() {}
+HumanState_nws_yarp::~HumanState_nws_yarp() {}
 
-bool HumanStateWrapper::open(yarp::os::Searchable& config)
+bool HumanState_nws_yarp::open(yarp::os::Searchable& config)
 {
     // ===============================
     // CHECK THE CONFIGURATION OPTIONS
@@ -82,12 +82,12 @@ bool HumanStateWrapper::open(yarp::os::Searchable& config)
 
 #include <iostream>
 
-bool HumanStateWrapper::close()
+bool HumanState_nws_yarp::close()
 {
     return true;
 }
 
-void HumanStateWrapper::run()
+void HumanState_nws_yarp::run()
 {
 
     // Get data from the interface
@@ -154,7 +154,7 @@ void HumanStateWrapper::run()
     pImpl->outputPort.write(/*forceStrict=*/true);
 }
 
-bool HumanStateWrapper::attach(yarp::dev::PolyDriver* poly)
+bool HumanState_nws_yarp::attach(yarp::dev::PolyDriver* poly)
 {
     if (!poly) {
         yError() << LogPrefix << "Passed PolyDriver is nullptr";
@@ -199,9 +199,9 @@ bool HumanStateWrapper::attach(yarp::dev::PolyDriver* poly)
     return true;
 }
 
-void HumanStateWrapper::threadRelease() {}
+void HumanState_nws_yarp::threadRelease() {}
 
-bool HumanStateWrapper::detach()
+bool HumanState_nws_yarp::detach()
 {
     while (isRunning()) {
         stop();
@@ -215,7 +215,7 @@ bool HumanStateWrapper::detach()
     return true;
 }
 
-bool HumanStateWrapper::attachAll(const yarp::dev::PolyDriverList& driverList)
+bool HumanState_nws_yarp::attachAll(const yarp::dev::PolyDriverList& driverList)
 {
     if (driverList.size() > 1) {
         yError() << LogPrefix << "This wrapper accepts only one attached PolyDriver";
@@ -232,7 +232,7 @@ bool HumanStateWrapper::attachAll(const yarp::dev::PolyDriverList& driverList)
     return attach(driver->poly);
 }
 
-bool HumanStateWrapper::detachAll()
+bool HumanState_nws_yarp::detachAll()
 {
     return detach();
 }
diff --git a/wrappers/HumanStateWrapper/HumanStateWrapper.h b/wrappers/HumanState_nws_yarp/HumanState_nws_yarp.h
similarity index 79%
rename from wrappers/HumanStateWrapper/HumanStateWrapper.h
rename to wrappers/HumanState_nws_yarp/HumanState_nws_yarp.h
index 4bcd2209e..437779c78 100644
--- a/wrappers/HumanStateWrapper/HumanStateWrapper.h
+++ b/wrappers/HumanState_nws_yarp/HumanState_nws_yarp.h
@@ -1,8 +1,8 @@
 // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 // SPDX-License-Identifier: BSD-3-Clause
 
-#ifndef HDE_DEVICES_HUMANSTATEWRAPPER
-#define HDE_DEVICES_HUMANSTATEWRAPPER
+#ifndef HDE_DEVICES_HUMANSTATE_NWS_YARP
+#define HDE_DEVICES_HUMANSTATE_NWS_YARP
 
 #include <yarp/dev/DeviceDriver.h>
 #include <yarp/dev/IMultipleWrapper.h>
@@ -13,11 +13,11 @@
 
 namespace hde {
     namespace wrappers {
-        class HumanStateWrapper;
+        class HumanState_nws_yarp;
     } // namespace wrappers
 } // namespace hde
 
-class hde::wrappers::HumanStateWrapper final
+class hde::wrappers::HumanState_nws_yarp final
     : public yarp::dev::DeviceDriver
     , public yarp::dev::IWrapper
     , public yarp::dev::IMultipleWrapper
@@ -28,8 +28,8 @@ class hde::wrappers::HumanStateWrapper final
     std::unique_ptr<impl> pImpl;
 
 public:
-    HumanStateWrapper();
-    ~HumanStateWrapper() override;
+    HumanState_nws_yarp();
+    ~HumanState_nws_yarp() override;
 
     // DeviceDriver interface
     bool open(yarp::os::Searchable& config) override;
@@ -48,4 +48,4 @@ class hde::wrappers::HumanStateWrapper final
     bool detachAll() override;
 };
 
-#endif // HDE_DEVICES_HUMANSTATEWRAPPER
+#endif // HDE_DEVICES_HUMANSTATE_NWS_YARP