diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
index 456671e79cc764fc577121082967fcc52e341361..4fcd3e452040b179aa92e8a3928d32d05abaaf60 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
@@ -57,7 +57,7 @@ namespace armarx
         controller->activateController();
     }
 
-    void VelocityControllerHelper::setTargetVelocity(const Eigen::VectorXf& cv)
+    void VelocityControllerHelper::setTargetVelocity(const Eigen::Vector6f& cv)
     {
         controller->setTargetVelocity(cv(0), cv(1), cv(2), cv(3), cv(4), cv(5));
     }
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
index c93de51afea1f663deda3e5f458cfe9f65acf8d7..ab47ffaccc480f999f214df3f5dbb908549f1ad7 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
@@ -43,7 +43,7 @@ namespace armarx
 
         void init();
 
-        void setTargetVelocity(const Eigen::VectorXf& cv);
+        void setTargetVelocity(const Eigen::Vector6f& cv);
 
         void setNullSpaceControl(bool enabled);