diff --git a/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp b/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp
index f1f8a2234863857d54fa8793299fead7256d7053..60a123777500c06dc11a3de053210af82e1648be 100644
--- a/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp
+++ b/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp
@@ -380,7 +380,8 @@ namespace armarx
 
         for (int j=0; j<jointNames->getSize(); j++)
         {
-            jointNamesAndValues[jointNames->getVariant(j)->getString()] = 0.0f;  //set everything to zero
+			// we want to ensure that the object stayes grasped -> apply a small velocity (todo: find a better solution!)
+            jointNamesAndValues[jointNames->getVariant(j)->getString()] = 0.01f;  //set everything to zero
             controlModes[jointNames->getVariant(j)->getString()] = eVelocityControl;
         }