diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 5fc97fcf5e21a6368abf52956457a7ec9f642193..c02bafe09239725a9346bd968f5e424d90d3ee70 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -551,6 +551,11 @@ namespace armarx
             usleep(100);
         }
 
+        while (!interfaceData.updateReadBuffer())
+        {
+            usleep(100);
+        }
+
         Eigen::Matrix4f pose = interfaceData.getUpToDateReadBuffer().currentTcpPose;
         dmpCtrl->prepareExecution(dmpCtrl->eigen4f2vec(pose), goals);