diff --git a/urx/urrtmon.py b/urx/urrtmon.py
index 3ff825b..9c08133 100644
--- a/urx/urrtmon.py
+++ b/urx/urrtmon.py
@@ -88,6 +88,16 @@ class URRTMonitor(threading.Thread):
                 return self._qActual
     getActual = q_actual
 
+    def qd_actual(self, wait=False, timestamp=False):
+        """ Get the actual joint velocity vector."""
+        if wait:
+            self.wait()
+        with self._dataAccess:
+            if timestamp:
+                return self._timestamp, self._qdActual
+            else:
+                return self._qdActual
+
     def q_target(self, wait=False, timestamp=False):
         """ Get the target joint position vector."""
         if wait:
@@ -164,6 +174,7 @@ class URRTMonitor(threading.Thread):
                     self._ctrlTimestamp - self._last_ctrl_ts)
             self._last_ctrl_ts = self._ctrlTimestamp
             self._qActual = np.array(unp[31:37])
+            self._qdActual = np.array(unp[37:43])
             self._qTarget = np.array(unp[1:7])
             self._tcp_force = np.array(unp[67:73])
             self._tcp = np.array(unp[73:79])