diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
index cd701d8b637e00c3dcb772c5f48b6e2b4acc9e2b..044c43098d3b0e788430cb5e7cd50dc4f95ce7e5 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
@@ -516,7 +516,7 @@ namespace armarx
         float manidist = 0;
         if (isManipulability)
         {
-            nullspaceTorque = manipulabilityTracker->calculateVelocity(targetManipulability, kmani);
+            nullspaceTorque = manipulabilityTracker->calculateVelocity(targetManipulability, kmani, true);
             manidist = manipulabilityTracker->computeDistance(targetManipulability);
         }
         else