diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
index 65efa415f3a5afce1813a1653f35494229ae3a83..928863b7eda26cb57176737588ed30cfb8fb9629 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
@@ -121,7 +121,6 @@ namespace armarx
         bool ControlThreadDataBuffer::sensorAndControlBufferChanged() const
         {
             throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-            auto guard = getGuard();
             throwIfDevicesNotReady(__FUNCTION__);
             return controlThreadOutputBuffer.updateReadBuffer();
         }
@@ -129,7 +128,6 @@ namespace armarx
         const SensorAndControl& ControlThreadDataBuffer::getSensorAndControlBuffer() const
         {
             throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-            auto guard = getGuard();
             throwIfDevicesNotReady(__FUNCTION__);
             return controlThreadOutputBuffer.getReadBuffer();
         }
@@ -137,7 +135,6 @@ namespace armarx
         void ControlThreadDataBuffer::writeRequestedControllers(JointAndNJointControllers&& setOfControllers)
         {
             throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-            auto guard = getGuard();
             throwIfDevicesNotReady(__FUNCTION__);
             //check NJoint
             const auto& nJointCtrls = setOfControllers.nJointControllers;
@@ -235,7 +232,7 @@ namespace armarx
         void ControlThreadDataBuffer::setActivateControllersRequest(std::set<NJointControllerPtr, std::greater<NJointControllerPtr>> ctrls)
         {
             throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-            auto guard = getGuard();
+            std::lock_guard<std::recursive_mutex> guardRequested{controllersRequestedMutex};
             throwIfDevicesNotReady(__FUNCTION__);
             //erase nullptr
             ctrls.erase(nullptr);
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
index 7ae4497682950243bf5564de85197dc68fa2d591..824e460fae8e95cf628c8ab39fdecb05b22318cf 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
@@ -66,14 +66,12 @@ namespace armarx
         Ice::StringSeq ControllerManagement::getRequestedNJointControllerNames(const Ice::Current&) const
         {
             throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-            auto guard = getGuard();
             return GetNonNullNames(_module<ControlThreadDataBuffer>().copyRequestedNJointControllers());
         }
 
         Ice::StringSeq ControllerManagement::getActivatedNJointControllerNames(const Ice::Current&) const
         {
             throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-            auto guard = getGuard();
             return GetNonNullNames(_module<ControlThreadDataBuffer>().getActivatedNJointControllers());
         }
 
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
index 6530e53c19e35a6b9258eb8b12063ddae6ecc8a7..49c90c94937b26585e1998796e49e12db02b20d6 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
@@ -429,6 +429,8 @@ namespace armarx
             std::map<std::string, NJointControllerPtr> nJointControllersToBeDeleted;
             /// @brief VirtualRobot used when creating controllers / calling other functions in this module
             VirtualRobot::RobotPtr controllerCreateRobot;
+
+            std::recursive_mutex controllerMutex;
             // //////////////////////////////////////////////////////////////////////////////////////// //
             // /////////////////////////////////////// Attorneys ////////////////////////////////////// //
             // //////////////////////////////////////////////////////////////////////////////////////// //