diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6a0fc2d..2d7631f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,9 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 ### Changed
 * Enable publishing of robot joints in ROS 2 via `controlBoard_nws_ros2` for `iCubGazeboV2_5_visuomanip` (https://github.com/robotology/icub-models/pull/211).
 
+### Fixed
+* Fixed wrong simulated finger hall effect sensors port names prefix for `iCubGazeboV2_5_visuomanip` (https://github.com/robotology/icub-models/pull/215).
+
 # [2.3.0] - 2023-09-11
 
 ### Fixed
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini
index 70529c8..e5157a0 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini
@@ -1,7 +1,5 @@
-[include "./gazebo_icub_robotname.ini"]
-
 [WRAPPER]
-name /${gazeboYarpPluginsRobotName}/left_hand/analog:o
+name /icubSim/left_hand/analog:o
 period 10
 networks (left_mais)
 device analogServer
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini
index 0b07369..fe5bae0 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini
@@ -1,7 +1,5 @@
-[include "./gazebo_icub_robotname.ini"]
-
 [WRAPPER]
-name /${gazeboYarpPluginsRobotName}/right_hand/analog:o
+name /icubSim/right_hand/analog:o
 period 10
 networks (right_mais)
 device analogServer