diff --git a/source/RobotAPI/components/units/KinematicUnit.h b/source/RobotAPI/components/units/KinematicUnit.h
index 70cef16f0a8f454b24ee79806e9b12d906e0f7d9..fa8f901da985e7197926055f9552d9b528653d39 100644
--- a/source/RobotAPI/components/units/KinematicUnit.h
+++ b/source/RobotAPI/components/units/KinematicUnit.h
@@ -49,7 +49,7 @@ namespace armarx
         KinematicUnitPropertyDefinitions(std::string prefix):
             ComponentPropertyDefinitions(prefix)
         {
-            defineRequiredProperty<std::string>("RobotNodeSetName","Robot node name");
+            defineRequiredProperty<std::string>("RobotNodeSetName","Robot node set name as defined in robot xml file, e.g. 'LeftArm'");
             defineRequiredProperty<std::string>("RobotFileName", "Robot file name, e.g. robot_model.xml");
         }
     };
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.cpp b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
index 8048dbeccd2864c15ba4cc2d9b8be377502d6904..dfeaaab7f9a673f5958c58d9490eb09c2b19df20 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
@@ -145,6 +145,11 @@ void KinematicUnitObserver::reportJointTorques(const NameValueMap& jointTorques,
     updateChannel("jointtorques");
 }
 
+void KinematicUnitObserver::reportJointAccelerations(const NameValueMap &jointAccelerations, bool aValueChanged, const Ice::Current &c)
+{
+
+}
+
 void KinematicUnitObserver::reportJointCurrents(const NameValueMap& jointCurrents,  bool aValueChanged, const Ice::Current& c)
 {
     if(jointCurrents.size() == 0)
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.h b/source/RobotAPI/components/units/KinematicUnitObserver.h
index 95debd4f3bf621562ea9bffea8a5822b57bd8aab..eb0b8012a07ee98e543fd178e617ae893f889aae 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.h
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.h
@@ -66,6 +66,7 @@ namespace armarx
         void reportJointAngles(const NameValueMap& jointAngles,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointVelocities(const NameValueMap& jointVelocities,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointTorques(const NameValueMap& jointTorques,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+        void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
         void reportJointCurrents(const NameValueMap& jointCurrents,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 7aaec9344dd026ccf349c75faf3a8a604da01f8c..34dd14d63b09ffa3218277ec9028eadc3f534f22 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -1255,6 +1255,11 @@ void armarx::TCPControlUnit::reportJointTorques(const NameValueMap &, bool, cons
 {
 }
 
+void armarx::TCPControlUnit::reportJointAccelerations(const armarx::NameValueMap &jointAccelerations, bool aValueChanged, const Ice::Current &c)
+{
+
+}
+
 void armarx::TCPControlUnit::reportJointCurrents(const NameValueMap &, bool, const Ice::Current &)
 {
 }
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 0236342d99ff9a2e7c9ae565728f22b9d591c011..8c6037afeba8a9f28c020f64b140b35a7abcd2eb 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -153,6 +153,7 @@ namespace armarx {
         void reportJointAngles(const NameValueMap &jointAngles, bool, const Ice::Current &);
         void reportJointVelocities(const NameValueMap &jointVel, bool, const Ice::Current &);
         void reportJointTorques(const NameValueMap &, bool, const Ice::Current &);
+        void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
         void reportJointCurrents(const NameValueMap &, bool, const Ice::Current &);
         void reportJointMotorTemperatures(const NameValueMap &, bool, const Ice::Current &);
         void reportJointStatuses(const NameStatusMap &, bool, const Ice::Current &);
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 51a1bcfb2af50f0e4380e960784871fe96e88a91..29d83e5c64174a4f4c551b95db6d3321fa6fc67b 100644
--- a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -880,6 +880,11 @@ void KinematicUnitWidgetController::reportJointTorques(const NameValueMap& joint
     emit jointTorquesReported();
 }
 
+void KinematicUnitWidgetController::reportJointAccelerations(const NameValueMap &jointAccelerations, bool aValueChanged, const Ice::Current &c)
+{
+
+}
+
 void KinematicUnitWidgetController::reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged, const Ice::Current& c)
 {
     if(!aValueChanged && reportedJointControlModes.size() > 0)
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 80baf48661c1cb448b88abc579d1d532d9691c1d..b13f363f3d57538eeaea743d34193fc3d342e876 100644
--- a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -189,6 +189,7 @@ namespace armarx
         void reportJointAngles(const NameValueMap& jointAngles, bool aValueChanged, const Ice::Current& c);
         void reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged, const Ice::Current& c);
         void reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged, const Ice::Current& c);
+        void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
         void reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c);
         void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Ice::Current& c);
         void reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current &);
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterface.ice b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
index 1651057f7b600ec5bea6cc63bf5a6d6eb8a3c439..e960915f8145d993ee61da8fce2a5b95beaa6fff 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterface.ice
+++ b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
@@ -137,6 +137,7 @@ module armarx
         void reportJointAngles(NameValueMap actualJointAngles, bool aValueChanged);
         void reportJointVelocities(NameValueMap actualJointVelocities, bool aValueChanged);
         void reportJointTorques(NameValueMap actualJointTorques, bool aValueChanged);
+        void reportJointAccelerations(NameValueMap actualJointAccelerations, bool aValueChanged);
         void reportJointCurrents(NameValueMap actualJointCurrents, bool aValueChanged);
         void reportJointMotorTemperatures(NameValueMap actualJointMotorTemperatures, bool aValueChanged);
         void reportJointStatuses(NameStatusMap actualJointStatuses, bool aValueChanged);
diff --git a/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp b/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
index a382663e373e00293bfb1a1965b186bc1fa7d8b8..7da8f699f0831a7f5aba92d5c2b47e0680e24365 100644
--- a/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
+++ b/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
@@ -160,6 +160,11 @@ namespace armarx
     void RobotStateComponent::reportControlModeChanged(const NameControlModeMap& jointModes,  bool aValueChanged,const Current& c){}
     void RobotStateComponent::reportJointVelocities(const NameValueMap& jointVelocities,  bool aValueChanged,const Current& c){}
     void RobotStateComponent::reportJointTorques(const NameValueMap& jointTorques,  bool aValueChanged,const Current& c){}
+
+    void RobotStateComponent::reportJointAccelerations(const NameValueMap &jointAccelerations, bool aValueChanged, const Current &c)
+    {
+
+    }
     void RobotStateComponent::reportJointCurrents(const NameValueMap& jointCurrents,  bool aValueChanged,const Current& c){}
     void RobotStateComponent::reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Current& c){}
     void RobotStateComponent::reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Current& c){}
diff --git a/source/RobotAPI/libraries/robotstate/RobotStateComponent.h b/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
index 8b4bfa6e99a62b769d2a510d4ca9f024e1bcabc4..e73aee75a0a63a5587235a5a7e340903ae048376 100644
--- a/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
+++ b/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
@@ -73,6 +73,7 @@ namespace armarx
         void reportJointAngles(const NameValueMap& jointAngles,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointVelocities(const NameValueMap& jointVelocities,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointTorques(const NameValueMap& jointTorques,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+        void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
         void reportJointCurrents(const NameValueMap& jointCurrents,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointStatuses(const NameStatusMap& jointStatuses,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
diff --git a/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.cpp b/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.cpp
index 83871e4fb78b0f649ce86eec1776eb8a3fd6b5f6..04f30d339e0dc88a1c7d0aaa146f073b80c57a41 100644
--- a/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.cpp
+++ b/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.cpp
@@ -122,6 +122,11 @@ void RobotStateObserver::reportJointTorques(const NameValueMap& jointTorques, bo
 {
 }
 
+void RobotStateObserver::reportJointAccelerations(const NameValueMap &jointAccelerations, bool aValueChanged, const Ice::Current &c)
+{
+
+}
+
 void RobotStateObserver::reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c)
 {
 }
diff --git a/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.h b/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.h
index 6c375013fbdd88422cfa203edbf191b94aa36e41..19991b4556c6d2eaa8c58e97a636a965a29aa89b 100644
--- a/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.h
+++ b/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.h
@@ -69,6 +69,7 @@ namespace armarx
         void reportJointAngles(const NameValueMap& jointAngles, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+        void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
         void reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current& c = Ice::Current());