diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
index b7d21d33b49202aa16928be602d306ed522ad9a1..22ff30654400ffb349b013b3d58e69b007f8ed18 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
@@ -76,6 +76,11 @@ namespace armarx
         if (data.leftTrigger > 0)
         {
             emergencyStop->setEmergencyStopState(EmergencyStopState::eEmergencyStopActive);
+            return;
+        }
+        else if (data.startButton)
+        {
+            emergencyStop->setEmergencyStopState(EmergencyStopState::eEmergencyStopInactive);
         }
         //scales are for the robot axis
         if (data.rightTrigger > 0)