diff --git a/docs/ergocub_operating_systems/index.md b/docs/ergocub_operating_systems/index.md
index 46e1328fd..6ce6fd7aa 100644
--- a/docs/ergocub_operating_systems/index.md
+++ b/docs/ergocub_operating_systems/index.md
@@ -1,6 +1,6 @@
 # Introduction
 
-This manual describes how to install and customize the linux operating systems required to run on machines in the ergoCub enviroment. 
+This manual describes how to install and customize the Linux operating systems required to run on machines in the ergoCub environment. 
 
 The ergoCub robot relies on two machines: `ergocub-head`, a [`NVIDIA Jetson Xavier AGX`](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-xavier-series/) used to control the realsense camera, the lidar and the OLED display, and `ergocub-torso`, which is a [`COM express type 10`](https://www.advantech.com/en-eu/products/0a009637-4f9d-4541-8624-a55de3ffb2a6/som-7583/mod_17ca9251-bdf5-4f74-9256-edd63a373b39) that controls the motors.
 
@@ -14,3 +14,23 @@ The following guides will help you properly configure the OS for the specific bo
 - [ergocub-torso](ergocub_torso/install_from_scratch.md)
 
 Alternatively, you can download the OS pre-built images [here](../icub_operating_systems/download.md).
+
+# Setup tmux Infinite Scroll
+
+Sometimes it is useful to run the `yarprobotinterface` directly from the terminal. By using `tmux`, you can detach from the SSH session. However, by default, the scrollback is not infinite, and not all messages are streamed to the logger.
+
+To overcome this limitation:
+
+1. Install xclip with:
+  ```console
+  sudo apt install xclip
+  ```
+2. Create a configuration file with:
+  ```console
+  touch ~/.tmux.conf
+  ```
+3. Set the following content in the configuration file:
+  ```
+  set -g mouse on
+  set -g history-limit 100000
+  ```