diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
index 68e6386994c2044dfdd0e86189dc172d812438f3..ca8dd3132aac84242e4998772ecae059b3b36639 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
@@ -192,7 +192,12 @@ void NJointTaskSpaceImpedanceController::rtRun(const IceUtil::Time& sensorValues
 
         debugDataInfo.getWriteBuffer().desired_torques[jointNames[i]] = jointDesiredTorques(i);
 
+
         targets.at(i)->torque = desiredTorque;
+        if (!targets.at(i)->isValid())
+        {
+            targets.at(i)->torque = 0;
+        }
     }