diff --git a/source/RobotAPI/components/RobotHealth/CMakeLists.txt b/source/RobotAPI/components/RobotHealth/CMakeLists.txt
index 065edb26d7c32cf48a6cdacfaeabd2baacb12d25..0a59a5003c21651eb32bcfd51ec2179d212d4dc2 100644
--- a/source/RobotAPI/components/RobotHealth/CMakeLists.txt
+++ b/source/RobotAPI/components/RobotHealth/CMakeLists.txt
@@ -1,7 +1,7 @@
 armarx_component_set_name("RobotHealth")
 
 set(COMPONENT_LIBS
-    ArmarXCoreInterfaces ArmarXCore
+    ArmarXCoreInterfaces ArmarXCore ArmarXCoreComponentPlugins
     RemoteGui
     ArmarXGuiInterfaces
     RobotAPIInterfaces)
diff --git a/source/RobotAPI/components/RobotHealth/RobotHealth.cpp b/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
index 934b88073535870c139d3677e45d8dcdc19bbf57..0e4b7f72ac1cc1f5f9b69b678c2d2f790c479184 100644
--- a/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
+++ b/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
@@ -49,6 +49,8 @@ namespace armarx
 
 
         //usingProxy(getProperty<std::string>("RemoteGuiName").getValue());
+
+        setDebugObserverBatchModeEnabled(true);
     }
 
 
@@ -157,6 +159,8 @@ namespace armarx
             catch(...)
             {}
         }*/
+
+        reportDebugObserver();
     }
 
     void RobotHealth::onDisconnectComponent()
@@ -296,4 +300,16 @@ namespace armarx
         }
         return ss.str();
     }
+
+    void RobotHealth::reportDebugObserver()
+    {
+        for(const auto& entry: entries)
+        {
+            setDebugObserverDatafield("RobotHealth_" + entry.name + "_lastDelta", entry.lastDelta);
+            setDebugObserverDatafield("RobotHealth_" + entry.name + "_maximumCycleTimeWarn", entry.maximumCycleTimeWarn);
+            setDebugObserverDatafield("RobotHealth_" + entry.name + "_maximumCycleTimeErr", entry.maximumCycleTimeErr);
+        }
+
+        sendDebugObserverBatch();
+    }
 }
diff --git a/source/RobotAPI/components/RobotHealth/RobotHealth.h b/source/RobotAPI/components/RobotHealth/RobotHealth.h
index 49ca51167f87d7c83636c7d7d8f744797dd2d5e2..3da12c1797ffa0afbc9af7310ec40953ecc51309 100644
--- a/source/RobotAPI/components/RobotHealth/RobotHealth.h
+++ b/source/RobotAPI/components/RobotHealth/RobotHealth.h
@@ -32,6 +32,7 @@
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 #include <ArmarXCore/interface/components/EmergencyStopInterface.h>
+#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
 
 #include <atomic>
 #include <mutex>
@@ -82,7 +83,8 @@ namespace armarx
      */
     class RobotHealth :
         virtual public RobotHealthComponentInterface,
-        virtual public armarx::Component
+        virtual public armarx::Component,
+        virtual public armarx::DebugObserverComponentPluginUser
     {
     public:
         /**
@@ -145,6 +147,8 @@ namespace armarx
         void monitorHealthTaskClb();
         Entry& findOrCreateEntry(const std::string& name);
 
+        void reportDebugObserver();
+
         std::mutex mutex;
         std::deque<Entry> entries;
         std::atomic_size_t validEntries {0};