diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
index 4f2d0c35fa4c95375cf67d09e332c1ecec5b77fa..cf5eb9b333563c0850e9e4fa5f7b618041958f63 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
@@ -250,6 +250,12 @@ namespace armarx
         return select("HandControllerName");
     }
 
+    std::string Arm::getHandUnitName() const
+    {
+        ARMARX_TRACE;
+        return select("HandUnitName");
+    }
+
     std::string Arm::getHandRootNode() const
     {
         ARMARX_TRACE;
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
index 76c9b283f5d915e54d1f240c94d01aa9774d8e08..c1fa9b4d74194e7fd4b8c2a5748d81ef4ccfdcbd 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
@@ -64,6 +64,8 @@ namespace armarx
 
         std::string getHandRootNode() const;
 
+        std::string getHandUnitName() const;
+
         std::string getHandModelPath() const;
 
         std::string getAbsoluteHandModelPath() const;
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/RobotDescription.xml b/source/RobotAPI/libraries/armem_robot_state/aron/RobotDescription.xml
index 38ce6ca3584f7b7cd4d999939302df91254aa06d..3fb008da6919db746fd335735c6c2aa094e58a12 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron/RobotDescription.xml
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/RobotDescription.xml
@@ -27,6 +27,9 @@
             <ObjectChild key='end_effector'>
                 <string />
             </ObjectChild>
+            <ObjectChild key='hand_unit'>
+                <string />
+            </ObjectChild>
             <!-- Legacy old memory -->
             <!-- <ObjectChild key='memory_hand_name'>
                 <string />
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index 82dbd27c2f48cc003e0ddf4927f9e9d15cbf7453..ef4c89379d9f243e1c7b22699b93c983370f5614 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -189,6 +189,10 @@ namespace armarx::armem::server::robot_state::description
                     e.torso_kinematic_chain =
                         tryGet([&]() { return arm.getTorsoKinematicChain(); });
 
+                    e.hand_unit = 
+                        tryGet([&]() { return arm.getHandUnitName(); });
+
+
                     info.parts.emplace(side + "Arm", e);
                 }
             }