diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index b19bc08f2..d0719eb7d 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -122,7 +122,7 @@ repositories:
   HumanDynamicsEstimation:
     type: git
     url: https://github.com/robotology/human-dynamics-estimation.git
-    version: v3.1.1
+    version: v4.0.0
   human-gazebo:
     type: git
     url: https://github.com/robotology/human-gazebo.git