diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
index 93b018801eb5e7f6b870e06b914798d511dc5780..dd17bc15be467cf494facd91bd1ac7fd2b58ef43 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
@@ -325,6 +325,7 @@ module armarx
     {
         void learnDMPFromFiles(Ice::StringSeq trajfiles);
         void learnJointDMPFromFiles(string jointTrajFile, Ice::FloatSeq currentJVS);
+        void setUseNullSpaceJointDMP(bool enable);
 
         bool isFinished();
         void runDMP(Ice::DoubleSeq goals);
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 65da4d862d7696bccaca2b68e5576777e722d54d..91f65179c440efe816c1e4d6f22f4f517e0ff2ea 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -439,6 +439,11 @@ namespace armarx
         stopped = false;
     }
 
+    void NJointTaskSpaceImpedanceDMPController::setUseNullSpaceJointDMP(bool enable, const Ice::Current&)
+    {
+        useNullSpaceJointDMP = enable;
+    }
+
 
     void NJointTaskSpaceImpedanceDMPController::runDMPWithTime(const Ice::DoubleSeq& goals, Ice::Double timeDuration, const Ice::Current&)
     {
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
index 1b49c99634870147df440d88709f828c0e074872..594be8eede44d4fd62cf466c06bf76523afc450f 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
@@ -77,9 +77,10 @@ namespace armarx
         void removeAllViaPoints(const Ice::Current&) override;
 
         void setLinearVelocityKd(const Ice::FloatSeq& kd, const Ice::Current&) override;
-        void setLinearVelocityKp(const Ice::FloatSeq& kp, const Ice::Current&)override;
-        void setAngularVelocityKd(const Ice::FloatSeq& kd, const Ice::Current&)override;
-        void setAngularVelocityKp(const Ice::FloatSeq& kp, const Ice::Current&)override;
+        void setLinearVelocityKp(const Ice::FloatSeq& kp, const Ice::Current&) override;
+        void setAngularVelocityKd(const Ice::FloatSeq& kd, const Ice::Current&) override;
+        void setAngularVelocityKp(const Ice::FloatSeq& kp, const Ice::Current&) override;
+        void setUseNullSpaceJointDMP(bool enable, const Ice::Current&) override;
 
 
     protected:
@@ -190,7 +191,7 @@ namespace armarx
         Eigen::VectorXf dnull;
         int numOfJoints;
 
-        bool useNullSpaceJointDMP;
+        std::atomic_bool useNullSpaceJointDMP;
         bool isNullSpaceJointDMPLearned;