diff --git a/cmake/Buildyarp-device-keyboard-joypad.cmake b/cmake/Buildyarp-device-keyboard-joypad.cmake
new file mode 100644
index 000000000..9b4cc437a
--- /dev/null
+++ b/cmake/Buildyarp-device-keyboard-joypad.cmake
@@ -0,0 +1,16 @@
+# Copyright (C) Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(YARP QUIET)
+
+ycm_ep_helper(yarp-device-keyboard-joypad TYPE GIT
+                                          STYLE GITHUB
+                                          REPOSITORY ami-iit/yarp-device-keyboard-joypad.git
+                                          TAG main
+                                          COMPONENT dynamics
+                                          FOLDER src
+                                          DEPENDS YCM
+                                                  YARP)
diff --git a/cmake/RobotologySuperbuildLogic.cmake b/cmake/RobotologySuperbuildLogic.cmake
index 592d3ca97..003fa4cd2 100644
--- a/cmake/RobotologySuperbuildLogic.cmake
+++ b/cmake/RobotologySuperbuildLogic.cmake
@@ -122,6 +122,7 @@ if(ROBOTOLOGY_ENABLE_DYNAMICS)
   if(ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
     find_or_build_package(BayesFilters)
     find_or_build_package(bipedal-locomotion-framework)
+    find_or_build_package(yarp-device-keyboard-joypad)
     find_or_build_package(walking-controllers)
     if(ROBOTOLOGY_USES_MATLAB)
       find_or_build_package(casadi-matlab-bindings)
diff --git a/doc/cmake-options.md b/doc/cmake-options.md
index 75fcde99e..e56ffea38 100644
--- a/doc/cmake-options.md
+++ b/doc/cmake-options.md
@@ -45,7 +45,7 @@ All these options are named `ROBOTOLOGY_ENABLE_<profile>` .
 | `ROBOTOLOGY_ENABLE_CORE` | The core robotology software packages, necessary for most users. | [`YARP`](https://github.com/robotology/yarp), [`ICUB`](https://github.com/robotology/icub-main), [`ICUBcontrib`](https://github.com/robotology/icub-contrib-common), [`icub-models`](https://github.com/robotology/icub-models), [`robots-configurations`](https://github.com/robotology/robots-configuration) and [`ergocub-software`](https://github.com/icub-tech-iit/ergocub-software). [`GazeboYARPPlugins`](https://github.com/robotology/GazeboYARPPlugins) if the `ROBOTOLOGY_USES_GAZEBO` option is enabled. [`gym-ignition`](https://github.com/robotology/gym-ignition) if the `ROBOTOLOGY_USES_IGNITION` option is enabled. | `ON` | [Documentation on Core profile.](#core) |
 | `ROBOTOLOGY_ENABLE_ROBOT_TESTING` | The robotology software packages related to robot testing. |  [`RobotTestingFramework`](https://github.com/robotology/robot-testing-framework), [`icub-tests`](https://github.com/robotology/icub-tests), [`blocktest`](https://github.com/robotology/blocktest) and [`blocktest-yarp-plugins`](https://github.com/robotology/blocktest-yarp-plugins) | `OFF` | [Documentation on Robot Testing profile.](#robot-testing)  |
 | `ROBOTOLOGY_ENABLE_DYNAMICS` | The robotology software packages related to balancing, walking and force control. | [`iDynTree`](https://github.com/robotology/idyntree), [`blockfactory`](https://github.com/robotology/blockfactory), [`wb-Toolbox`](https://github.com/robotology/wb-Toolbox), [`whole-body-controllers`](https://github.com/robotology/whole-body-controllers), [`walking-controllers`](https://github.com/robotology/walking-controllers), [`matioCpp`](https://github.com/dic-iit/matio-cpp), [`robometry`](https://github.com/robotology/robometry). Furthermore, [`osqp-matlab`](https://github.com/dic-iit/osqp-matlab-cmake-buildsystem) and [`matlab-whole-body-simulator`](https://github.com/dic-iit/matlab-whole-body-simulator) if `ROBOTOLOGY_USES_MATLAB` option is enabled. | `OFF` | [Documentation on Dynamics profile.](#dynamics)  |
-| `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` | [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework) and its dependencies. |  [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework), [`manif`](https://github.com/artivis/manif), [`qhull`](https://github.com/qhull/qhull), [`casadi`](https://github.com/casadi/casadi). [`CppAD`](https://github.com/coin-or/CppAD). [`robot-log-visualizer`](https://github.com/ami-iit/robot-log-visualizer) if `ROBOTOLOGY_USES_PYTHON` option is enabled. | `OFF` | [Documentation on Dynamics full deps profile.](#dynamics-full-deps)  |
+| `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` | [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework) and its dependencies. |  [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework), [`manif`](https://github.com/artivis/manif), [`qhull`](https://github.com/qhull/qhull), [`casadi`](https://github.com/casadi/casadi), [`CppAD`](https://github.com/coin-or/CppAD), [`yarp-device-keyboard-joypad`](https://github.com/ami-iit/yarp-device-keyboard-joypad) [`robot-log-visualizer`](https://github.com/ami-iit/robot-log-visualizer) if `ROBOTOLOGY_USES_PYTHON` option is enabled. | `OFF` | [Documentation on Dynamics full deps profile.](#dynamics-full-deps)  |
 | `ROBOTOLOGY_ENABLE_ICUB_HEAD` | The robotology software packages needed on the system that is running on the head of the iCub robot, or in general to communicate directly with iCub low-level devices. | [`icub-firmware`](https://github.com/robotology/icub-firmware), [`icub-firmware-shared`](https://github.com/robotology/icub-firmware-shared). Furthermore, several additional devices are compiled in `YARP` and `ICUB` if this option is enabled. | `OFF` | [Documentation on iCub Head profile.](#icub-head)  |
 | `ROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS` | The robotology software packages needed to run basic demonstrations with the iCub robot. | [`icub-basic-demos`](https://github.com/robotology/icub-basic-demos), [`speech`](https://github.com/robotology/speech),  [`funny-things`](https://github.com/robotology/funny-things). | `OFF` | [Documentation on iCub Basic Demos profile.](#icub-basic-demos)  |
 | `ROBOTOLOGY_ENABLE_TELEOPERATION` | The robotology software packages related to teleoperation. | [`walking-teleoperation`](https://github.com/robotology/walking-teleoperation), [`https://github.com/ami-iit/yarp-openvr-trackers`](https://github.com/ami-iit/yarp-openvr-trackers) and [`https://github.com/ami-iit/yarp-device-openxrheadset`](https://github.com/ami-iit/yarp-device-openxrheadset). | `OFF` | [Documentation on teleoperation profile.](#teleoperation)  |
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index c9d6accce..871431b55 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -271,3 +271,7 @@ repositories:
     type: git
     url: https://github.com/robotology/yarp-devices-ros.git
     version: v3.9.0
+  yarp-device-keyboard-joypad:
+    type: git
+    url: https://github.com/ami-iit/yarp-device-keyboard-joypad.git
+    version: v0.0.1