diff --git a/src/SofaHaplyRobotics/Haply_Inverse3Controller.cpp b/src/SofaHaplyRobotics/Haply_Inverse3Controller.cpp
index 40fdbc0..19eabde 100644
--- a/src/SofaHaplyRobotics/Haply_Inverse3Controller.cpp
+++ b/src/SofaHaplyRobotics/Haply_Inverse3Controller.cpp
@@ -48,9 +48,11 @@ const std::string Haply_Inverse3Controller::wirelessGripIdKey_ = "wireless_verse
 
 using namespace sofa::helper::system::thread;
 
-const int Haply_Inverse3ControllerClass = core::RegisterObject("Driver allowing interfacing with Haptic Haply Robotics Inverse3 device.")
-    .add< Haply_Inverse3Controller >()
-    ;
+void registerHaply_Inverse3Controller(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Driver allowing interfacing with Haptic Haply Robotics Inverse3 device.")
+        .add< Haply_Inverse3Controller >());
+}
 
 
 //constructeur
diff --git a/src/SofaHaplyRobotics/config.h.in b/src/SofaHaplyRobotics/config.h.in
index 4ba6bdc..eebf207 100644
--- a/src/SofaHaplyRobotics/config.h.in
+++ b/src/SofaHaplyRobotics/config.h.in
@@ -23,6 +23,7 @@
 #include <sofa/config.h>
 
 #ifdef SOFA_BUILD_SOFAHAPLYROBOTICS
+#  define SOFA_TARGET SofaHaplyRobotics
 #  define SOFA_HAPLYROBOTICS_API SOFA_EXPORT_DYNAMIC_LIBRARY
 #else
 #  define SOFA_HAPLYROBOTICS_API SOFA_IMPORT_DYNAMIC_LIBRARY
diff --git a/src/SofaHaplyRobotics/initSofaHaplyRoboticsPlugin.cpp b/src/SofaHaplyRobotics/initSofaHaplyRoboticsPlugin.cpp
index e2e03c7..678f020 100644
--- a/src/SofaHaplyRobotics/initSofaHaplyRoboticsPlugin.cpp
+++ b/src/SofaHaplyRobotics/initSofaHaplyRoboticsPlugin.cpp
@@ -19,6 +19,13 @@
  ****************************************************************************/
 #include <SofaHaplyRobotics/config.h>
 
+#include <sofa/core/ObjectFactory.h>
+
+namespace sofa::HaplyRobotics
+{
+    void registerHaply_Inverse3Controller(sofa::core::ObjectFactory* factory);
+}
+
 namespace sofa::component
 {
 
@@ -31,6 +38,7 @@ extern "C" {
     SOFA_HAPLYROBOTICS_API const char* getModuleLicense();
     SOFA_HAPLYROBOTICS_API const char* getModuleDescription();
     SOFA_HAPLYROBOTICS_API const char* getModuleComponentList();
+    SOFA_HAPLYROBOTICS_API void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -68,4 +76,9 @@ const char* getModuleComponentList()
     return "Haply_Inverse3Controller";
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    sofa::HaplyRobotics::registerHaply_Inverse3Controller(factory);
+}
+
 } // namespace sofa::component