diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 712029cc71548bc876887ac41256e0c881b8b841..d550b478c148c97372098e8e40dd7927bafa144f 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -552,6 +552,11 @@ namespace armarx
             usleep(100);
         }
 
+        while (!interfaceData.updateReadBuffer())
+        {
+            usleep(100);
+        }
+
         Eigen::Matrix4f pose = interfaceData.getUpToDateReadBuffer().currentTcpPose;
         dmpCtrl->prepareExecution(dmpCtrl->eigen4f2vec(pose), goals);