diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 0a08c5396283856d5e5ccc5e8ebfdbb9cb59500c..1730ea67e98907735b71c42798cbec2f3e5d0b63 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -451,6 +451,8 @@ namespace armarx
         debugOutputData.getWriteBuffer().currentDnull_y = dnull.y();
         debugOutputData.getWriteBuffer().currentDnull_z = dnull.z();
 
+        debugOutputData.getWriteBuffer().filteredForceInRoot = filteredForceInRoot;
+
         debugOutputData.commitWrite();
 
     }
@@ -641,6 +643,10 @@ namespace armarx
         datafields["forceDesired_ry"] = new Variant(debugOutputData.getUpToDateReadBuffer().forceDesired_ry);
         datafields["forceDesired_rz"] = new Variant(debugOutputData.getUpToDateReadBuffer().forceDesired_rz);
 
+        datafields["filteredForceInRoot_x"] = new Variant(debugOutputData.getUpToDateReadBuffer().filteredForceInRoot[0]);
+        datafields["filteredForceInRoot_y"] = new Variant(debugOutputData.getUpToDateReadBuffer().filteredForceInRoot[1]);
+        datafields["filteredForceInRoot_z"] = new Variant(debugOutputData.getUpToDateReadBuffer().filteredForceInRoot[2]);
+
         datafields["deltaT"] = new Variant(debugOutputData.getUpToDateReadBuffer().deltaT);
 
         std::string channelName = cfg->nodeSetName + "_TaskSpaceImpedanceControl";
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
index 58fd840fb1121b4a159c185abb2e72fd7470f082..5361dec0f37c7269c86432c6dff64c95504cca3f 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
@@ -162,6 +162,8 @@ namespace armarx
             float forceDesired_ry;
             float forceDesired_rz;
 
+            Eigen::Vector3f filteredForceInRoot;
+
             float deltaT;