diff --git a/doc/kinematics-dynamics-install.md b/doc/kinematics-dynamics-install.md
index 0cb9d6064..f626790a5 100644
--- a/doc/kinematics-dynamics-install.md
+++ b/doc/kinematics-dynamics-install.md
@@ -8,7 +8,7 @@ First install the dependencies:
 - [Install KDL 1.4+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-kdl.md/)
 - [Install color-debug](https://github.com/roboticslab-uc3m/color-debug)
 
-Only for `testBasicCartesianControl` and `streamingDeviceController`, we use `FakeControlboard` and `ProximitySensorsClient` from [yarp-devices](https://github.com/roboticslab-uc3m/yarp-devices), respectively:
+Only for `testBasicCartesianControl` and `streamingDeviceController`, we use `EmulatedControlboard` and `ProximitySensorsClient` from [yarp-devices](https://github.com/roboticslab-uc3m/yarp-devices), respectively:
 
 ```bash
 cd  # go home
@@ -16,7 +16,7 @@ mkdir -p repos; cd repos  # create $HOME/repos if it does not exist; then, enter
 git clone https://github.com/roboticslab-uc3m/yarp-devices
 cd yarp-devices
 mkdir build && cd build
-cmake .. -DENABLE_OneCanBusOneWrapper=OFF -DENABLE_TwoCanBusThreeWrappers=OFF -DENABLE_dumpCanBus=OFF -DENABLE_checkCanBus=OFF -DENABLE_oneCanBusOneWrapper=OFF -DENABLE_launchManipulation=OFF -DENABLE_launchLocomotion=OFF -DENABLE_CanBusControlboard=OFF -DENABLE_CanBusHico=OFF -DENABLE_CuiAbsolute=OFF -DENABLE_FakeControlboard=ON -DENABLE_FakeJoint=OFF -DENABLE_Jr3=OFF -DENABLE_LacqueyFetch=OFF -DENABLE_LeapMotionSensor=OFF -DENABLE_ProximitySensorsClient=ON -DENABLE_SpaceNavigator=OFF -DENABLE_TechnosoftIpos=OFF -DENABLE_TextilesHand=OFF -DENABLE_WiimoteSensor=OFF -DENABLE_tests=OFF
+cmake .. -DENABLE_OneCanBusOneWrapper=OFF -DENABLE_TwoCanBusThreeWrappers=OFF -DENABLE_dumpCanBus=OFF -DENABLE_checkCanBus=OFF -DENABLE_oneCanBusOneWrapper=OFF -DENABLE_launchManipulation=OFF -DENABLE_launchLocomotion=OFF -DENABLE_CanBusControlboard=OFF -DENABLE_CanBusHico=OFF -DENABLE_CuiAbsolute=OFF -DENABLE_EmulatedControlboard=ON -DENABLE_FakeJoint=OFF -DENABLE_Jr3=OFF -DENABLE_LacqueyFetch=OFF -DENABLE_LeapMotionSensor=OFF -DENABLE_ProximitySensorsClient=ON -DENABLE_SpaceNavigator=OFF -DENABLE_TechnosoftIpos=OFF -DENABLE_TextilesHand=OFF -DENABLE_WiimoteSensor=OFF -DENABLE_tests=OFF
 make -j$(nproc)  # compile
 sudo make install
 cd ../..
diff --git a/libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl.hpp b/libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl.hpp
index 0b6da0125..f73b6c20c 100644
--- a/libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl.hpp
+++ b/libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl.hpp
@@ -51,7 +51,7 @@ First we must run a YARP name server if it is not running in our current namespa
 And then launch the actual library:
 
 \verbatim
-[on terminal 2] yarpdev --device BasicCartesianControl --robot FakeControlboard --angleRepr axisAngle --link_0 "(A 1)"
+[on terminal 2] yarpdev --device BasicCartesianControl --robot EmulatedControlboard --angleRepr axisAngle --link_0 "(A 1)"
 \endverbatim
 
 Along the output, observe a line like the following.
diff --git a/tests/testBasicCartesianControl.cpp b/tests/testBasicCartesianControl.cpp
index 088ad507d..e88b53b52 100644
--- a/tests/testBasicCartesianControl.cpp
+++ b/tests/testBasicCartesianControl.cpp
@@ -24,7 +24,7 @@ class BasicCartesianControlTest : public testing::Test
 
     public:
         virtual void SetUp() {
-            yarp::os::Property cartesianControlOptions("(device BasicCartesianControl) (robot FakeControlboard) (axes 1) (solver KdlSolver) (gravity (0 -10 0)) (numLinks 1) (link_0 (A 1) (mass 1) (cog -0.5 0 0) (inertia 1 1 1))");
+            yarp::os::Property cartesianControlOptions("(device BasicCartesianControl) (robot EmulatedControlboard) (axes 1) (solver KdlSolver) (gravity (0 -10 0)) (numLinks 1) (link_0 (A 1) (mass 1) (cog -0.5 0 0) (inertia 1 1 1))");
 
             cartesianControlDevice.open(cartesianControlOptions);
             if( ! cartesianControlDevice.isValid() ) {