diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index d57574c7ae58c0477a5e401c3c4b5a1e4c292f1f..643368fb2854e52ada75118d5cad7a15f8e577d5 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -84,6 +84,13 @@ namespace armarx
         NJointTaskSpaceImpedanceDMPControllerInterfaceData initInterfaceData;
         initInterfaceData.currentTcpPose = Eigen::Matrix4f::Identity();
         interfaceData.reinitAllBuffers(initInterfaceData);
+
+        NJointTaskSpaceImpedanceDMPControllerSensorData initControllerSensorData;
+        initControllerSensorData.currentPose = Eigen::Matrix4f::Identity();
+        initControllerSensorData.currentTime = 0;
+        initControllerSensorData.deltaT = 0;
+        initControllerSensorData.currentTwist.setZero();
+        controllerSensorData.reinitAllBuffers(initControllerSensorData);
     }
 
     std::string NJointTaskSpaceImpedanceDMPController::getClassName(const Ice::Current&) const