diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 643368fb2854e52ada75118d5cad7a15f8e577d5..77f5f86560acb0e8a0fbd7d71b4eced95a9c4924 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -239,6 +239,11 @@ namespace armarx
             debugOutputData.getWriteBuffer().desired_nullspaceJoint[jointNames[i]] = desiredNullSpaceJointValues(i);
 
             targets.at(i)->torque = desiredTorque;
+            if (!targets.at(i)->isValid())
+            {
+                ARMARX_INFO << deactivateSpam(1) << "Torque controller target is invalid - setting to zero! set value: " << targets.at(i)->torque;
+                targets.at(i)->torque = 0.0f;
+            }
         }
 
         debugOutputData.getWriteBuffer().currentCanVal = dmpCtrl->debugData.canVal;