diff --git a/tests/ergocub-model-test.cpp b/tests/ergocub-model-test.cpp
index ea646d3e..75188513 100644
--- a/tests/ergocub-model-test.cpp
+++ b/tests/ergocub-model-test.cpp
@@ -486,14 +486,14 @@ bool checkFTSensorsAreCorrectlyOriented(iDynTree::KinDynComputations & comp)
                            0.5, 0.866025, 0,
                             0, 0, -1);
 
-    bool ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameLeftArmExpected, "l_arm_ft_sensor");
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameRightArmExpected, "r_arm_ft_sensor") && ok;
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_L_sensorFrameExpectedLeg, "l_leg_ft_sensor") && ok;
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedLeg, "r_leg_ft_sensor") && ok;
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_rear_ft_sensor") && ok;
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_rear_ft_sensor") && ok;
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_front_ft_sensor") && ok;
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_front_ft_sensor") && ok;
+    bool ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameLeftArmExpected, "l_arm_ft");
+    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameRightArmExpected, "r_arm_ft") && ok;
+    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_L_sensorFrameExpectedLeg, "l_leg_ft") && ok;
+    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedLeg, "r_leg_ft") && ok;
+    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_rear_ft") && ok;
+    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_rear_ft") && ok;
+    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_front_ft") && ok;
+    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_front_ft") && ok;
     return ok;
 }