diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
index 8668d87f81dc1081b6a3166cd76f8a253ea3fbe7..de6fd4c597d650e67d4be5140be1ec2c9da73651 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
@@ -269,6 +269,19 @@ namespace armarx
             auto guard = getGuard();
             return getMapKeys(nJointControllers);
         }
+        std::vector<std::string> ControllerManagement::getNJointControllerNames(const std::vector<NJointControllerPtr> &ctrls) const
+        {
+            std::vector<std::string> result;
+            result.reserve(ctrls.size());
+            for(const auto& ctrl : ctrls)
+            {
+                if(ctrl)
+                {
+                    result.emplace_back(ctrl->getInstanceName());
+                }
+            }
+            return result;
+        }
 
 
         void ControllerManagement::activateNJointControllers(const Ice::StringSeq& names, const Ice::Current&)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
index f48cf5976e5941afbf5eb2fd8d860b37fdb169b3..914d3c19ce9695c0ccd0a9caf51472f615f36559 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
@@ -293,6 +293,14 @@ namespace armarx
              * @throw If there is no \ref NJointcontroller for \param name
              */
             const NJointControllerPtr& getNJointControllerNotNull(const std::string& name) const;
+
+            /**
+             * @brief Returns the names of given \ref NJointController "NJointControllers"
+             * @param ctrls The \ref NJointController "NJointControllers"
+             * @return The names of given \ref NJointController "NJointControllers"
+             */
+            std::vector<std::string> getNJointControllerNames(const std::vector<armarx::NJointControllerPtr>& ctrls) const;
+
             // //////////////////////////////////////////////////////////////////////////////////////// //
             // //////////////////////////////////// implementation //////////////////////////////////// //
             // //////////////////////////////////////////////////////////////////////////////////////// //