diff --git a/source/RobotAPI/components/units/HandUnit.cpp b/source/RobotAPI/components/units/HandUnit.cpp
index b30f96136afd126e2f7b90e7b5ef4b0c4aae6b31..829beb05218312f6ddbae9f61b164a392ff95f5f 100644
--- a/source/RobotAPI/components/units/HandUnit.cpp
+++ b/source/RobotAPI/components/units/HandUnit.cpp
@@ -191,6 +191,16 @@ std::string armarx::HandUnit::getHandName(const Ice::Current&)
     return eef->getName();
 }
 
+void HandUnit::setJointPressures(const NameValueMap&, const Ice::Current&)
+{
+
+}
+
+void HandUnit::setJointCommands(const NameCommandMap&, const Ice::Current&)
+{
+
+}
+
 
 void armarx::HandUnit::setJointAngles(const armarx::NameValueMap& targetJointAngles, const Ice::Current& c)
 {
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index 1fd2c51bfa6d13018024dae430a9346d0e58bb12..8ecffff206c0666bd8d569e791e11cd9e3f36c83 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/source/RobotAPI/components/units/HandUnit.h
@@ -166,8 +166,8 @@ namespace armarx
         // HandUnitInterface interface
     public:
         std::string getHandName(const Ice::Current&);
-
-
+        void setJointPressures(const NameValueMap&, const Ice::Current&);
+        void setJointCommands(const NameCommandMap&, const Ice::Current&);
     };
 }
 
diff --git a/source/RobotAPI/interface/units/HandUnitInterface.ice b/source/RobotAPI/interface/units/HandUnitInterface.ice
index f3df38d6289ac39d3d8a93f5f63da3f0a8be4ab9..982b2170a19ab8130067d39c82a14ff13cd40c76 100644
--- a/source/RobotAPI/interface/units/HandUnitInterface.ice
+++ b/source/RobotAPI/interface/units/HandUnitInterface.ice
@@ -34,6 +34,8 @@
 
 module armarx
 {
+    dictionary<string, string> NameCommandMap;
+
 	/**
      * Implements an interface to a HandUnit.
      */
@@ -72,6 +74,10 @@ module armarx
          * @param targetJointAngles Map of joint names and corresponding joint angle values.
          */
         void setJointAngles(NameValueMap targetJointAngles);
+
+        void setJointPressures(NameValueMap targetJointPressures);
+
+        void setJointCommands(NameCommandMap targetJointCommands);
     };
 	/**
      * Implements an interface to a HandUnitListener.